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Test:MRS UAV System - Test coverage reportLines:137132337458.7 %
Date:2023-12-06 10:06:33Functions:2425413758.6 %
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 +
14.6%14.6%
+ 		14.6 %65 / 44514.9 %14 / 94
mrs_uav_state_estimators/src/estimators/heading +
18.9%18.9%
+ 		18.9 %88 / 46622.2 %12 / 54
mrs_uav_trajectory_generation/src/eth_trajectory_generation +
42.0%42.0%
+ 		42.0 %417 / 99429.5 %31 / 105
mrs_uav_trackers/src/speed_tracker +
14.1%14.1%
+ 		14.1 %58 / 41136.8 %7 / 19
mrs_uav_trackers/src/joy_tracker +
44.4%44.4%
+ 		44.4 %63 / 14238.9 %7 / 18
mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
+ 		71.0 %66 / 9340.0 %48 / 120
mrs_lib/src/batch_visualizer +
47.1%47.1%
+ 		47.1 %192 / 40846.5 %20 / 43
mrs_lib/src/safety_zone/polygon +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
mrs_lib/src/scope_timer +
14.1%14.1%
+ 		14.1 %20 / 14250.0 %5 / 10
mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
67.2%67.2%
+ 		67.2 %117 / 17450.0 %17 / 34
mrs_lib/include/mrs_lib/impl +
78.4%78.4%
+ 		78.4 %334 / 42655.2 %719 / 1302
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
+ 		58.3 %7 / 1257.1 %4 / 7
mrs_uav_trackers/src/mpc_tracker +
64.1%64.1%
+ 		64.1 %1072 / 167357.1 %28 / 49
mrs_uav_managers/include/transform_manager +
47.1%47.1%
+ 		47.1 %186 / 39557.9 %11 / 19
mrs_lib/include/mrs_lib +
76.2%76.2%
+ 		76.2 %731 / 95958.9 %741 / 1259
mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
46.6%46.6%
+ 		46.6 %291 / 62559.4 %19 / 32
mrs_uav_managers/src/control_manager +
50.9%50.9%
+ 		50.9 %1888 / 371259.3 %73 / 123
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_trackers/src/line_tracker +
68.1%68.1%
+ 		68.1 %323 / 47463.3 %19 / 30
mrs_lib/src/transform_broadcaster +
53.3%53.3%
+ 		53.3 %16 / 3066.7 %2 / 3
mrs_uav_managers/src/control_manager/common +
40.1%40.1%
+ 		40.1 %226 / 56367.7 %21 / 31
mrs_uav_trackers/src/landoff_tracker +
71.6%71.6%
+ 		71.6 %424 / 59267.7 %21 / 31
mrs_uav_testing/include/mrs_uav_testing +
70.9%70.9%
+ 		70.9 %112 / 15872.7 %8 / 11
mrs_uav_state_estimators/src/estimators/state +
70.3%70.3%
+ 		70.3 %306 / 43572.7 %24 / 33
mrs_uav_state_estimators/src/estimators/altitude +
56.3%56.3%
+ 		56.3 %209 / 37173.3 %22 / 30
mrs_uav_managers/src +
55.5%55.5%
+ 		55.5 %938 / 169074.0 %54 / 73
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
58.0%58.0%
+ 		58.0 %401 / 69174.7 %68 / 91
mrs_uav_trajectory_generation/include/eth_trajectory_generation +
64.9%64.9%
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mrs_lib/src/transformer +
66.1%66.1%
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mrs_uav_managers/include/mrs_uav_managers/control_manager +
61.5%61.5%
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mrs_uav_trajectory_generation/src +
43.4%43.4%
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mrs_uav_managers/src/estimation_manager +
63.9%63.9%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
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100.0%
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81.4%81.4%
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36.6%36.6%
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77.3%77.3%
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89.1%89.1%
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100.0%
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100.0%
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72.7%72.7%
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100.0%
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mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly +
88.4%88.4%
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mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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94.8%94.8%
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92.1%92.1%
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Directory Sort by nameLine Coverage Sort by line coverageFunctions Sort by function coverage
mrs_lib/include/mrs_lib/safety_zone +
0.0%
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mrs_lib/src/scope_timer +
14.1%14.1%
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mrs_uav_trackers/src/speed_tracker +
14.1%14.1%
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mrs_lib/src/geometry +
14.6%14.6%
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mrs_uav_state_estimators/src/estimators/heading +
18.9%18.9%
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mrs_lib/src/profiler +
36.6%36.6%
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mrs_uav_managers/src/control_manager/common +
40.1%40.1%
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mrs_lib/src/safety_zone/polygon +
40.8%40.8%
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mrs_uav_trajectory_generation/src/eth_trajectory_generation +
42.0%42.0%
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mrs_uav_trajectory_generation/src +
43.4%43.4%
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mrs_uav_trackers/src/joy_tracker +
44.4%44.4%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
46.6%46.6%
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mrs_uav_managers/include/transform_manager +
47.1%47.1%
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mrs_lib/src/batch_visualizer +
47.1%47.1%
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mrs_uav_managers/src/control_manager +
50.9%50.9%
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mrs_lib/src/transform_broadcaster +
53.3%53.3%
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mrs_uav_managers/src +
55.5%55.5%
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mrs_uav_state_estimators/src/estimators/altitude +
56.3%56.3%
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mrs_lib/src/safety_zone +
57.1%57.1%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
58.0%58.0%
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mrs_uav_state_estimators/src/estimators/lateral +
58.3%58.3%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
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mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_uav_managers/include/mrs_uav_managers/control_manager +
61.5%61.5%
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mrs_uav_managers/src/estimation_manager +
63.9%63.9%
+ 		63.9 %392 / 61378.7 %37 / 47
mrs_uav_trackers/src/mpc_tracker +
64.1%64.1%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation +
64.9%64.9%
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mrs_lib/src/transformer +
66.1%66.1%
+ 		66.1 %185 / 28076.9 %20 / 26
mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
67.2%67.2%
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mrs_uav_trackers/src/line_tracker +
68.1%68.1%
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mrs_uav_state_estimators/src/estimators/state +
70.3%70.3%
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mrs_uav_testing/include/mrs_uav_testing +
70.9%70.9%
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mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
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mrs_uav_trackers/src/landoff_tracker +
71.6%71.6%
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mrs_uav_state_estimators/src/estimators/agl +
72.1%72.1%
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mrs_lib/src/param_loader +
72.7%72.7%
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mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
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mrs_uav_autostart/src +
75.5%75.5%
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mrs_lib/include/mrs_lib +
76.2%76.2%
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mrs_uav_managers/src/transform_manager +
77.3%77.3%
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mrs_lib/include/mrs_lib/impl +
78.4%78.4%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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mrs_uav_controllers/src +
81.4%81.4%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
81.7%81.7%
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mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly +
88.4%88.4%
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mrs_lib/src/median_filter +
89.1%89.1%
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mrs_lib/src/timer +
92.1%92.1%
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mrs_lib/src/attitude_converter +
94.6%94.6%
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mrs_uav_controllers/include +
94.8%94.8%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl +
100.0%
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mrs_uav_managers/include/control_manager +
100.0%
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mrs_lib/src/utils +
100.0%
+ 		100.0 %7 / 7100.0 %2 / 2
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state +
100.0%
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mrs_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_lib/src/math +
100.0%
+ 		100.0 %17 / 17100.0 %1 / 1
mrs_uav_trajectory_generation/include/eth_mav_msgs +
100.0%
+ 		100.0 %28 / 28100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
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Date:2023-12-06 10:06:33Functions:2425413758.6 %
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 +
76.2%76.2%
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mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
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mrs_lib/include/mrs_lib/impl +
78.4%78.4%
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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%
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mrs_lib/src/batch_visualizer +
47.1%47.1%
+ 		47.1 %192 / 40846.5 %20 / 43
mrs_lib/src/geometry +
14.6%14.6%
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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 +
72.7%72.7%
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mrs_lib/src/profiler +
36.6%36.6%
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mrs_lib/src/safety_zone +
57.1%57.1%
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mrs_lib/src/safety_zone/polygon +
40.8%40.8%
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mrs_lib/src/scope_timer +
14.1%14.1%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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mrs_lib/src/timer +
92.1%92.1%
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mrs_lib/src/transform_broadcaster +
53.3%53.3%
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mrs_lib/src/transformer +
66.1%66.1%
+ 		66.1 %185 / 28076.9 %20 / 26
mrs_lib/src/utils +
100.0%
+ 		100.0 %7 / 7100.0 %2 / 2
mrs_uav_autostart/src +
75.5%75.5%
+ 		75.5 %210 / 27885.0 %17 / 20
mrs_uav_controllers/include +
94.8%94.8%
+ 		94.8 %55 / 58100.0 %14 / 14
mrs_uav_controllers/src +
81.4%81.4%
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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 +
61.5%61.5%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
81.7%81.7%
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mrs_uav_managers/include/transform_manager +
47.1%47.1%
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mrs_uav_managers/src +
55.5%55.5%
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mrs_uav_managers/src/control_manager +
50.9%50.9%
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mrs_uav_managers/src/control_manager/common +
40.1%40.1%
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mrs_uav_managers/src/estimation_manager +
63.9%63.9%
+ 		63.9 %392 / 61378.7 %37 / 47
mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_uav_managers/src/transform_manager +
77.3%77.3%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
58.0%58.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl +
100.0%
+ 		100.0 %4 / 4100.0 %3 / 3
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
67.2%67.2%
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mrs_uav_state_estimators/src/estimators/agl +
72.1%72.1%
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mrs_uav_state_estimators/src/estimators/altitude +
56.3%56.3%
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mrs_uav_state_estimators/src/estimators/heading +
18.9%18.9%
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mrs_uav_state_estimators/src/estimators/lateral +
58.3%58.3%
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mrs_uav_state_estimators/src/estimators/state +
70.3%70.3%
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mrs_uav_testing/include/mrs_uav_testing +
70.9%70.9%
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mrs_uav_trackers/src/joy_tracker +
44.4%44.4%
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mrs_uav_trackers/src/landoff_tracker +
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mrs_uav_trackers/src/line_tracker +
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mrs_uav_trackers/src/mpc_tracker +
64.1%64.1%
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mrs_uav_trackers/src/speed_tracker +
14.1%14.1%
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mrs_uav_trajectory_generation/include/eth_mav_msgs +
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mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
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mrs_uav_trajectory_generation/src +
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html b/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html new file mode 100644 index 0000000000..e96ee7151a --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232979.3 %
Date:2023-12-06 10:06:33Functions:91275.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::AttitudeConverter::MathErrorException::what() const0
mrs_lib::AttitudeConverter::SetHeadingException::what() const0
mrs_lib::AttitudeConverter::EulerFormatException::what() const0
auto mrs_lib::AttitudeConverter::get<0ul>()1
auto mrs_lib::AttitudeConverter::get<1ul>()1
auto mrs_lib::AttitudeConverter::get<2ul>()1
mrs_lib::AttitudeConverter::GetHeadingException::what() const1
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
mrs_lib::AttitudeConverter::InvalidAttitudeException::what() const2
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen10QuaternionIT_Li0EEEIdEEv30407
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)95817
mrs_lib::AttitudeConverter::AttitudeConverter<double>(Eigen::AngleAxis<double>)262910
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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..be1c8c9a13 --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.func.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232979.3 %
Date:2023-12-06 10:06:33Functions:91275.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)95817
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>)262910
mrs_lib::AttitudeConverter::MathErrorException::what() const0
mrs_lib::AttitudeConverter::GetHeadingException::what() const1
mrs_lib::AttitudeConverter::SetHeadingException::what() const0
mrs_lib::AttitudeConverter::EulerFormatException::what() const0
mrs_lib::AttitudeConverter::InvalidAttitudeException::what() const2
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen10QuaternionIT_Li0EEEIdEEv30407
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232979.3 %
Date:2023-12-06 10:06:33Functions:91275.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : /**
+       3             :  * @file attitude_converter.h
+       4             :  *
+       5             :  * @brief Conversions between various representations of object attitude in 3D.
+       6             :  * Supports Quaternions, Euler angles, Angle-axis and Rotational matrices from tf, tf2, Eigen and geometry_msgs libraries.
+       7             :  * The default Euler angle notation is the extrinsic RPY.
+       8             :  *
+       9             :  * @author Tomas Baca
+      10             :  */
+      11             : 
+      12             : #ifndef ATTITUDE_CONVERTER_H
+      13             : #define ATTITUDE_CONVERTER_H
+      14             : 
+      15             : #include <vector>
+      16             : #include <cmath>
+      17             : #include <Eigen/Dense>
+      18             : #include <tuple>
+      19             : 
+      20             : #include <tf2_ros/transform_listener.h>
+      21             : #include <tf2_ros/buffer.h>
+      22             : #include <tf2_eigen/tf2_eigen.h>
+      23             : #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+      24             : #include <tf/transform_datatypes.h>
+      25             : #include <tf_conversions/tf_eigen.h>
+      26             : 
+      27             : #include <mrs_lib/geometry/misc.h>
+      28             : 
+      29             : namespace mrs_lib
+      30             : {
+      31             : 
+      32             : // type of the object we are grasping
+      33             : typedef enum
+      34             : {
+      35             : 
+      36             :   RPY_INTRINSIC = 1,
+      37             :   RPY_EXTRINSIC = 2,
+      38             : 
+      39             : } RPY_convention_t;
+      40             : 
+      41             : /* class EulerAttitude //{ */
+      42             : 
+      43             : /**
+      44             :  * @brief A small class for storing the Euler angles.
+      45             :  */
+      46             : class EulerAttitude {
+      47             : public:
+      48             :   /**
+      49             :    * @brief A simple class for storing the Euler angles.
+      50             :    *
+      51             :    * @param roll
+      52             :    * @param pitch
+      53             :    * @param yaw
+      54             :    */
+      55             :   EulerAttitude(const double& roll, const double& pitch, const double& yaw);
+      56             : 
+      57             :   /**
+      58             :    * @brief get the roll angle
+      59             :    *
+      60             :    * @return roll
+      61             :    */
+      62             :   double roll(void) const;
+      63             : 
+      64             :   /**
+      65             :    * @brief get the pitch angle
+      66             :    *
+      67             :    * @return pitch
+      68             :    */
+      69             :   double pitch(void) const;
+      70             : 
+      71             :   /**
+      72             :    * @brief get the yaw angle
+      73             :    *
+      74             :    * @return yaw
+      75             :    */
+      76             :   double yaw(void) const;
+      77             : 
+      78             : private:
+      79             :   double roll_, pitch_, yaw_;
+      80             : };
+      81             : 
+      82             : //}
+      83             : 
+      84             : /* class Vector3Converter //{ */
+      85             : 
+      86             : /**
+      87             :  * @brief Converter of Vector3 representations. Instantiate it with any type of vector3 in constructor and convert it by assigning it to any other type of
+      88             :  * vector3 variable.
+      89             :  */
+      90             : class Vector3Converter {
+      91             : public:
+      92             :   /**
+      93             :    * @brief Constructor with tf2::Vector3
+      94             :    *
+      95             :    * @param vector3
+      96             :    */
+      97       95817 :   Vector3Converter(const tf2::Vector3& vector3) : vector3_(vector3){};
+      98             : 
+      99             :   /**
+     100             :    * @brief Constructor with Eigen::Vector3
+     101             :    *
+     102             :    * @param vector3
+     103             :    */
+     104             :   Vector3Converter(const Eigen::Vector3d& vector3);
+     105             : 
+     106             :   /**
+     107             :    * @brief Constructor with geometry_msgs::Vector3
+     108             :    *
+     109             :    * @param vector3
+     110             :    */
+     111             :   Vector3Converter(const geometry_msgs::Vector3& vector3);
+     112             : 
+     113             :   /**
+     114             :    * @brief Constructor with doubles: x, y, z
+     115             :    *
+     116             :    * @param x
+     117             :    * @param y
+     118             :    * @param z
+     119             :    */
+     120             :   Vector3Converter(const double& x, const double& y, const double& z);
+     121             : 
+     122             :   /**
+     123             :    * @brief typecast overloaded for tf2::Vector3
+     124             :    *
+     125             :    * @return vector3
+     126             :    */
+     127             :   operator tf2::Vector3() const;
+     128             : 
+     129             :   /**
+     130             :    * @brief typecast overloaded for Eigen::Vector3
+     131             :    *
+     132             :    * @return vector3
+     133             :    */
+     134             :   operator Eigen::Vector3d() const;
+     135             : 
+     136             :   /**
+     137             :    * @brief typecast overloaded for geometry_msgs::Vector3
+     138             :    *
+     139             :    * @return vector3
+     140             :    */
+     141             :   operator geometry_msgs::Vector3() const;
+     142             : 
+     143             : private:
+     144             :   tf2::Vector3 vector3_;
+     145             : };
+     146             : 
+     147             : //}
+     148             : 
+     149             : /**
+     150             :  * @brief The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable,
+     151             :  * as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation.
+     152             :  */
+     153             : class AttitudeConverter {
+     154             : public:
+     155             :   /* exceptions //{ */
+     156             : 
+     157             :   //! is thrown when calculating of heading is not possible due to atan2 exception
+     158             :   struct GetHeadingException : public std::exception
+     159             :   {
+     160           1 :     const char* what() const throw() {
+     161           1 :       return "AttitudeConverter: can not calculate the heading, the rotated x-axis is parallel to the world's z-axis";
+     162             :     }
+     163             :   };
+     164             : 
+     165             :   //! is thrown when math breaks
+     166             :   struct MathErrorException : public std::exception
+     167             :   {
+     168           0 :     const char* what() const throw() {
+     169           0 :       return "AttitudeConverter: math error";
+     170             :     }
+     171             :   };
+     172             : 
+     173             :   //! is thrown when the internal attitude becomes invalid
+     174             :   struct InvalidAttitudeException : public std::exception
+     175             :   {
+     176           2 :     const char* what() const throw() {
+     177           2 :       return "AttitudeConverter: invalid attitude, the input probably constains NaNs";
+     178             :     }
+     179             :   };
+     180             : 
+     181             :   //! is thrown when the Euler angle format is set wrongly
+     182             :   struct EulerFormatException : public std::exception
+     183             :   {
+     184           0 :     const char* what() const throw() {
+     185           0 :       return "AttitudeConverter: invalid Euler angle format";
+     186             :     }
+     187             :   };
+     188             : 
+     189             :   //! is thrown when the heading cannot be set to an existing attitude
+     190             :   struct SetHeadingException : public std::exception
+     191             :   {
+     192           0 :     const char* what() const throw() {
+     193           0 :       return "AttitudeConverter: cannot set the desired heading, the thrust vector's Z component is 0";
+     194             :     }
+     195             :   };
+     196             : 
+     197             :   //}
+     198             : 
+     199             :   /* constructors //{ */
+     200             : 
+     201             :   /**
+     202             :    * @brief Euler angles constructor
+     203             :    *
+     204             :    * @param roll
+     205             :    * @param pitch
+     206             :    * @param yaw
+     207             :    * @param format optional, Euler angle convention, {"extrinsic", "intrinsic"}, defaults to "extrinsic"
+     208             :    */
+     209     4157579 :   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      262910 :   AttitudeConverter(const Eigen::AngleAxis<T> angle_axis) {
+     254      262167 :     double       angle = angle_axis.angle();
+     255      262229 :     tf2::Vector3 axis(angle_axis.axis()[0], angle_axis.axis()[1], angle_axis.axis()[2]);
+     256             : 
+     257      262513 :     tf2_quaternion_.setRotation(axis, angle);
+     258      262365 :   }
+     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       30407 :   operator Eigen::Quaternion<T>() const {
+     334             : 
+     335       30407 :     return Eigen::Quaternion<T>(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     336             :   }
+     337             : 
+     338             :   operator Eigen::Matrix3d() const;
+     339             : 
+     340             :   /**
+     341             :    * @brief typecase to tuple of Euler angles in extrinsic RPY
+     342             :    *
+     343             :    * @return std::tuple of extrinsic RPY
+     344             :    */
+     345             :   operator std::tuple<double&, double&, double&>();
+     346             : 
+     347             :   /**
+     348             :    * @brief typecase to tf2::Matrix3x3
+     349             :    *
+     350             :    * @return tf2::Matrix3x3 rotational matrix
+     351             :    */
+     352             :   operator tf2::Matrix3x3() const;
+     353             : 
+     354             :   /**
+     355             :    * @brief typecase to tf2::Transform
+     356             :    *
+     357             :    * @return tf2::Transform
+     358             :    */
+     359             :   operator tf2::Transform() const;
+     360             : 
+     361             :   //}
+     362             : 
+     363             :   /* getters //{ */
+     364             : 
+     365             :   /**
+     366             :    * @brief get the roll angle
+     367             :    *
+     368             :    * @return roll
+     369             :    */
+     370             :   double getRoll(void);
+     371             : 
+     372             :   /**
+     373             :    * @brief get the pitch angle
+     374             :    *
+     375             :    * @return pitch
+     376             :    */
+     377             :   double getPitch(void);
+     378             : 
+     379             :   /**
+     380             :    * @brief get the yaw angle
+     381             :    *
+     382             :    * @return yaw
+     383             :    */
+     384             :   double getYaw(void);
+     385             : 
+     386             :   /**
+     387             :    * @brief get the angle of the rotated x-axis in the original XY plane, a.k.a
+     388             :    *
+     389             :    * @return heading
+     390             :    */
+     391             :   double getHeading(void);
+     392             : 
+     393             :   /**
+     394             :    * @brief get heading rate base on the orientation and body-based attitude rate
+     395             :    *
+     396             :    * @param attitude_rate in the body frame
+     397             :    *
+     398             :    * @return heading rate in the world
+     399             :    */
+     400             :   double getHeadingRate(const Vector3Converter& attitude_rate);
+     401             : 
+     402             :   /**
+     403             :    * @brief get the intrinsic yaw rate from a heading rate
+     404             :    *
+     405             :    * @param heading_rate
+     406             :    *
+     407             :    * @return intrinsic yaw rate
+     408             :    */
+     409             :   double getYawRateIntrinsic(const double& heading_rate);
+     410             : 
+     411             :   /**
+     412             :    * @brief get a unit vector pointing in the X direction
+     413             :    *
+     414             :    * @return the vector
+     415             :    */
+     416             :   Vector3Converter getVectorX(void);
+     417             : 
+     418             :   /**
+     419             :    * @brief get a unit vector pointing in the Y direction
+     420             :    *
+     421             :    * @return the vector
+     422             :    */
+     423             :   Vector3Converter getVectorY(void);
+     424             : 
+     425             :   /**
+     426             :    * @brief get a unit vector pointing in the Z direction
+     427             :    *
+     428             :    * @return the vector
+     429             :    */
+     430             :   Vector3Converter getVectorZ(void);
+     431             : 
+     432             :   /**
+     433             :    * @brief get the Roll, Pitch, Yaw angles in the Intrinsic convention
+     434             :    *
+     435             :    * @return RPY
+     436             :    */
+     437             :   std::tuple<double, double, double> getIntrinsicRPY();
+     438             : 
+     439             :   /**
+     440             :    * @brief get the Roll, Pitch, Yaw angles in the Extrinsic convention. The same as the default AttitudeConverter assignment.
+     441             :    *
+     442             :    * @return RPY
+     443             :    */
+     444             :   std::tuple<double, double, double> getExtrinsicRPY();
+     445             : 
+     446             :   //}
+     447             : 
+     448             :   /* setters //{ */
+     449             : 
+     450             :   /**
+     451             :    * @brief Updates the heading of the current orientation by updating the intrinsic yaw
+     452             :    *
+     453             :    * @param new heading
+     454             :    *
+     455             :    * @return the orientation
+     456             :    */
+     457             :   AttitudeConverter setHeading(const double& heading);
+     458             : 
+     459             :   /**
+     460             :    * @brief Updates the extrinsic yaw of the current orientation.
+     461             :    *
+     462             :    * @param new yaw
+     463             :    *
+     464             :    * @return the orientation
+     465             :    */
+     466             :   AttitudeConverter setYaw(const double& new_yaw);
+     467             : 
+     468             :   //}
+     469             : 
+     470             :   template <std::size_t I>
+     471             :   constexpr auto get();
+     472             : 
+     473             : private:
+     474             :   /**
+     475             :    * @brief Internal representation of the attitude
+     476             :    */
+     477             :   tf2::Quaternion tf2_quaternion_;
+     478             : 
+     479             :   /**
+     480             :    * @brief convert the internal quaternion representation to internally-stored RPY
+     481             :    */
+     482             :   void calculateRPY(void);
+     483             : 
+     484             :   /**
+     485             :    * @brief throws exception when the internal attitude is invalid
+     486             :    */
+     487             :   void validateOrientation(void);
+     488             : 
+     489             :   /**
+     490             :    * @brief Internal representation in RPY. is used only when converting to RPY.
+     491             :    */
+     492             :   double roll_, pitch_, yaw_;
+     493             :   bool   got_rpy_ = false;
+     494             : };
+     495             : 
+     496             : 
+     497             : template <std::size_t I>
+     498           3 : constexpr auto AttitudeConverter::get() {
+     499             : 
+     500           3 :   calculateRPY();
+     501             : 
+     502             :   // call compilation error if I > 2
+     503             :   static_assert(I <= 2);
+     504             : 
+     505             :   // get the RPY components based on the index in the tuple
+     506             :   if constexpr (I == 0) {
+     507           1 :     return static_cast<double>(roll_);
+     508             :   } else if constexpr (I == 1) {
+     509           1 :     return static_cast<double>(pitch_);
+     510             :   } else if constexpr (I == 2) {
+     511           1 :     return static_cast<double>(yaw_);
+     512             :   }
+     513             : }
+     514             : 
+     515             : }  // namespace mrs_lib
+     516             : 
+     517             : template <>
+     518             : struct std::tuple_size<mrs_lib::AttitudeConverter>
+     519             : { static constexpr int value = 3; };
+     520             : 
+     521             : template <>
+     522             : struct std::tuple_element<0, mrs_lib::AttitudeConverter>
+     523             : { using type = double; };
+     524             : 
+     525             : template <>
+     526             : struct std::tuple_element<1, mrs_lib::AttitudeConverter>
+     527             : { using type = double; };
+     528             : 
+     529             : template <>
+     530             : struct std::tuple_element<2, mrs_lib::AttitudeConverter>
+     531             : { using type = double; };
+     532             : 
+     533             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html new file mode 100644 index 0000000000..2b64ca38c0 --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html @@ -0,0 +1,154 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.png b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..708a493ebf15f10db204e2e60e12329b8d395a7e GIT binary patch literal 1660 zcmV-?27~#DP)R0{{R3v^8aD0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpRn< zn<Azo}&sJLrpMfT}Pk+x>i}3hiljFHK z=1Nx63Ge-A7s_wY#}A;7K_$0eSJB5@;!Ad26IP|lfkJ+RKBhZ9E4{puJ|+}x(auDu z?H?sLe)+F(^ZMR@@_I9l>Kx;4hh8wGCYr@qx`f!S-&ue#U?kaB6m>R9jXC>0F*Gmv zD*IONA90PfVxLS6+4!nwu!Ld0RkLv=feXAR39S|zysf41%n*9@N_kZ z0nd1UO$<-I#!3b_^57YmmqdHo<|TtiWL_+IhUdx1@EACb*78CE4@_bhji)^$-%Q+{ zNuUg>$wxKo%?xoHXPSEKVf8W-QZE|vH62!(l%U}139qC)9-R^UkAz0S(hA;flFD%}&FKWlTp zTlI*9*sfdfv{^AS=rtKFNA}6bn?}T5Su@q&;*{M zu{0DpZou!0}f;Q=#?<=C6FFLhk`p zp7zw0`xGAoZtpz_n1d@;iU~*Zp}2HlDV=>YrNrQMfm7$Q@noICIr}(qQNA7_2XK(p zr&p|CkRwAMUGn)h;$IVDy9R(y2q_%%_UF*!vH;JsDTyakz->A5X~Nrm*Hn1ss|50X zxSkjIgJ;a~51t`MUT)^9{~=JF{CIEjQ9GTC6E~GrgvY=6U*W-XeD~t4BuNHfWNey2 zdV*x<05e?5#Q4cdQJvB-65qlE+}R!Gg$)_-sRY*nTnzUqR#+xs^4O4z%Ly$R@JKM9 z5Cbd110it=1;_6W9GNy_pd3|MfH0VnuXDxUaik6=21zg`TQ9p=gAv3v$WfwZ;V1lx z6GUE0#TDb|rj@G)ZMNg8f5IQ#&>kh0eqeD(T5M_+Sw$Rgc}Bxtlj(*NS9C!ONE5$u z@4k+7+!Kse)q8q9w?-|l1J5=s;VGx>wf&&fy<>{J{80000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2023-12-06 10:06:33Functions: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&)44
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)44
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)44
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&)44
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_defaults(mrs_uav_state_estimators::AltitudeEstimatorConfig&)84
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)84
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)84
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&)84
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)88
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&)132
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&)132
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<double>(boost::any&, double*&)132
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)132
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)168
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&)174
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&)174
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_defaults(mrs_uav_state_estimators::CorrectionConfig&)174
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)174
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)174
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<double>(boost::any&, double*&)174
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)174
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)174
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&)174
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&)252
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&)252
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<double>(boost::any&, double*&)252
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)252
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)348
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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..dfae46de1e --- /dev/null +++ b/mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h.func.html @@ -0,0 +1,420 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2023-12-06 10:06:33Functions: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&)174
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&)174
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&)174
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)348
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)174
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)174
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*&)174
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)174
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)174
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&)174
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&)132
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&)132
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&)44
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)88
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)44
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)44
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*&)132
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)132
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&)44
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&)252
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&)252
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&)84
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)168
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)84
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)84
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*&)252
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)252
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&)84
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2023-12-06 10:06:33Functions:288532.9 %
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines DynamicReconfigureMgr - a convenience class for managing dynamic ROS parameters through dynamic reconfigure.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : #ifndef DYNAMIC_RECONFIGURE_MGR_H
+       7             : #define DYNAMIC_RECONFIGURE_MGR_H
+       8             : 
+       9             : #include <ros/ros.h>
+      10             : #include <dynamic_reconfigure/server.h>
+      11             : #include <string>
+      12             : #include <map>
+      13             : #include <unordered_set>
+      14             : #include <mutex>
+      15             : #include <iostream>
+      16             : #include <boost/any.hpp>
+      17             : #include <Eigen/Dense>
+      18             : #include <mrs_lib/param_loader.h>
+      19             : 
+      20             : 
+      21             : namespace mrs_lib
+      22             : {
+      23             : 
+      24             : /** DynamicReconfigureMgr CLASS //{ **/
+      25             : // This class handles dynamic reconfiguration of parameters using dynamic_reconfigure server.
+      26             : // Initialize this manager simply by instantiating an object of this templated class
+      27             : // with the template parameter corresponding to the type of your config message, e.g. as
+      28             : // DynamicReconfigureMgr<MyConfig> drmgr;
+      29             : // This will automatically initialize the dynamic_reconfigure server and a callback method
+      30             : // to asynchronously update the values in the config.
+      31             : // Optionally, you can specify the ros NodeHandle to initialize the dynamic_reconfigure server
+      32             : // and a flag 'print_values' to indicate whether to print new received values (only changed ones,
+      33             : // default is true).
+      34             : // The latest configuration is available through the public member 'config'. This should be
+      35             : // changed externally with care since any change risks being overwritten in the next call to
+      36             : // the 'dynamic_reconfigure_callback' method.
+      37             : // Note that in case of a multithreaded ROS node, external mutexes _might_ be necessary
+      38             : // to make access to the 'config' member thread-safe.
+      39             : template <typename ConfigType>
+      40             : class DynamicReconfigureMgr
+      41             : {
+      42             :   private:
+      43             :     using callback_t = typename dynamic_reconfigure::Server<ConfigType>::CallbackType;
+      44             : public:
+      45             :   // this variable holds the latest received configuration
+      46             :   ConfigType config;
+      47             :   // initialize some stuff in the constructor
+      48         302 :   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         302 :         m_server(m_server_mtx, nh),
+      54             :         m_usr_cbf(user_callback),
+      55         302 :         m_pl(nh, print_values, node_name)
+      56             :   {
+      57             :     // initialize the dynamic reconfigure callback
+      58         302 :     m_server.setCallback(boost::bind(&DynamicReconfigureMgr<ConfigType>::dynamic_reconfigure_callback, this, _1, _2));
+      59         302 :   };
+      60             : 
+      61             :   /* Constructor overloads //{ */
+      62             :   // Convenience constructor to enable writing DynamicReconfigureMgr<MyConfig> drmgr(nh, node_name)
+      63         174 :   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         604 :   void update_config(const ConfigType& cfg)
+      72             :   {
+      73         604 :     m_server.updateConfig(cfg);
+      74         604 :   }
+      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         302 :   void dynamic_reconfigure_callback(ConfigType& new_config, uint32_t level)
+     107             :   {
+     108         302 :     if (m_print_values)
+     109             :     {
+     110         302 :       if (m_node_name.empty())
+     111           0 :         ROS_INFO("Dynamic reconfigure request received");
+     112             :       else
+     113         302 :         ROS_INFO("[%s]: Dynamic reconfigure request received", m_node_name.c_str());
+     114             :     }
+     115             : 
+     116         302 :     if (m_not_initialized)
+     117             :     {
+     118         302 :       load_defaults(new_config);
+     119         302 :       update_config(new_config);
+     120             :     }
+     121         302 :     if (m_print_values)
+     122             :     {
+     123         302 :       print_changed_params(new_config);
+     124             :     }
+     125         302 :     m_not_initialized = false;
+     126         302 :     config = new_config;
+     127         302 :     if (m_usr_cbf)
+     128         128 :       m_usr_cbf(new_config, level);
+     129         302 :   }
+     130             : 
+     131             :   template <typename T>
+     132         558 :   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        1116 :     boost::shared_ptr<const param_descr_t> cast_descr = boost::dynamic_pointer_cast<const param_descr_t>(descr);
+     136         558 :     m_pl.loadParam(name, config.*(cast_descr->field));
+     137         558 :   }
+     138             :   
+     139         302 :   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         604 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     143         860 :     for (auto& descr : descrs)
+     144             :     {
+     145        1116 :       std::string name = descr->name;
+     146         558 :       size_t pos = name.find("__");
+     147         558 :       while (pos != name.npos)
+     148             :       {
+     149           0 :         name.replace(pos, 2, "/");
+     150           0 :         pos = name.find("__");
+     151             :       }
+     152             : 
+     153         558 :       if (descr->type == "bool")
+     154           0 :         load_param<bool>(name, descr, new_config);
+     155         558 :       else if (descr->type == "int")
+     156           0 :         load_param<int>(name, descr, new_config);
+     157         558 :       else if (descr->type == "double")
+     158         558 :         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         302 :   }
+     168             : 
+     169             :   // method for printing names and values of new received parameters (prints only the changed ones) //{
+     170         302 :   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         604 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     174         860 :     for (auto& descr : descrs)
+     175             :     {
+     176           0 :       boost::any val, old_val;
+     177         558 :       descr->getValue(new_config, val);
+     178         558 :       descr->getValue(config, old_val);
+     179         558 :       std::string name = descr->name;
+     180         558 :       const size_t pos = name.find("__");
+     181         558 :       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         558 :       if (try_cast(val, intval))
+     199             :       {
+     200           0 :         if (m_not_initialized || !try_compare(old_val, intval))
+     201           0 :           print_value(name, *intval);
+     202         558 :       } else if (try_cast(val, doubleval))
+     203             :       {
+     204         558 :         if (m_not_initialized || !try_compare(old_val, doubleval))
+     205         558 :           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         302 :   }
+     220             :   //}
+     221             :   
+     222             :   // helper method for parameter printing
+     223             :   template <typename T>
+     224         558 :   inline void print_value(const std::string& name, const T& val)
+     225             :   {
+     226         558 :     if (m_node_name.empty())
+     227           0 :       std::cout << "\t" << name << ":\t" << val << std::endl;
+     228             :     else
+     229         558 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << val);
+     230         558 :   }
+     231             :   // helper methods for automatic parameter value parsing
+     232             :   template <typename T>
+     233        1116 :   inline bool try_cast(boost::any& val, T*& out)
+     234             :   {
+     235        1116 :     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:2023-12-06 10:06:33Functions:4511738.5 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::degrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(mrs_lib::geometry::sdegrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::sradians const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::value() const0
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::convert<mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)1
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::convert<mrs_lib::geometry::radians>() const1
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::value() const4
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>&&)6
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::unwrap(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::unwrap(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::dist(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::unwrap(double, double)10001
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::value() const10002
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10004
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)10008
mrs_lib::geometry::operator-(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10009
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(double)20000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(double)20005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::wrap(double)30000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::wrap(double)30005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)39280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)39280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(double, double, double)39280
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)40000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::value() const40002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)98584
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)173194
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>)245359
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>)428558
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::radians const&)470691
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)510739
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)887095
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)909180
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)924440
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)935651
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>)984936
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)2069871
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)2181164
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html b/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html new file mode 100644 index 0000000000..b1967ff77f --- /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:2023-12-06 10:06:33Functions:4511738.5 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::wrap(double)30005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::unwrap(double, double)10000
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::convert<mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::degrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(double)20005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)428558
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)173194
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>)245359
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)909180
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::unwrap(double, double)10001
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::radians const&)470691
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)510739
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)887095
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)39280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)39280
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>)984936
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)935651
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)2181164
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)39280
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)924440
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&)98584
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)2069871
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
mrs_lib::geometry::operator-(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10009
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10004
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)40000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::value() const4
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::value() const10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::value() const0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::value() const40002
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::convert<mrs_lib::geometry::radians>() const1
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2023-12-06 10:06:33Functions:4511738.5 %
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     2996979 :       cyclic(const flt val) : val(wrap(val)){};
+      62             :       /*!
+      63             :        * \brief Copy constructor.
+      64             :        *
+      65             :        * \param val initialization value.
+      66             :        */
+      67      609325 :       cyclic(const cyclic& other) : val(other.val){};
+      68             :       /*!
+      69             :        * \brief Copy constructor.
+      70             :        *
+      71             :        * \param val initialization value.
+      72             :        */
+      73      470691 :       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     3150349 :       static flt wrap(const flt val)
+     115             :       {
+     116             :         // these few ifs should cover most cases, improving speed and precision
+     117     3150349 :         if (val >= minimum)
+     118             :         {
+     119     2873158 :           if (val < supremum)  // value is actually in range and doesn't need to be wrapped
+     120     2698911 :             return val;
+     121      174239 :           else if (val < supremum + range)
+     122       11200 :             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      277191 :           if (val >= minimum - range)
+     126      113776 :             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      326459 :         const flt rem = std::fmod(val - minimum, range);
+     131      326459 :         const flt wrapped = rem + minimum + std::signbit(rem) * range;
+     132      326457 :         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      954443 :       static flt unwrap(const flt what, const flt from)
+     158             :       {
+     159      954443 :         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     1128845 :       static flt diff(const flt minuend, const flt subtrahend)
+     194             :       {
+     195     1128845 :         return diff(cyclic(minuend), cyclic(subtrahend));
+     196             :       }
+     197             : 
+     198     1433498 :       static flt diff(const cyclic minuend, const cyclic subtrahend)
+     199             :       {
+     200     1433498 :         const flt d = minuend.val - subtrahend.val;
+     201     1433498 :         if (d < -half_range)
+     202       18210 :           return d + range;
+     203     1415288 :         if (d >= half_range)
+     204       14825 :           return d - range;
+     205     1400459 :         return d;
+     206             :       }
+     207             : 
+     208             :       /*!
+     209             :        * \brief Returns the distance between the two circular values.
+     210             :        *
+     211             :        * The distance may also be interpreted as length of the shortest walk between the two values.
+     212             :        *
+     213             :        * \param from  the first circular quantity.
+     214             :        * \param to    the second circular quantity.
+     215             :        * \returns     distance of the two circular quantities.
+     216             :        *
+     217             :        * \note The order of the parameters doesn't matter.
+     218             :        */
+     219       20002 :       static flt dist(const flt from, const flt to)
+     220             :       {
+     221       20002 :         return dist(cyclic(from), cyclic(to));
+     222             :       }
+     223             : 
+     224      255369 :       static flt dist(const cyclic from, const cyclic to)
+     225             :       {
+     226      255369 :         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       39280 :       static flt interpUnwrapped(const flt from, const flt to, const flt coeff)
+     243             :       {
+     244       39280 :         return interpUnwrapped(cyclic(from), cyclic(to), coeff);
+     245             :       }
+     246             : 
+     247       39280 :       static flt interpUnwrapped(const cyclic from, const cyclic to, const flt coeff)
+     248             :       {
+     249       39280 :         const flt dang = diff(to, from);
+     250       39280 :         const flt intp = from.val + coeff * dang;
+     251       39280 :         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       39280 :       static flt interp(const flt from, const flt to, const flt coeff)
+     265             :       {
+     266       39280 :         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&)29207
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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&)29207
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       29213 :     double headingFromRot(const T& rot)
+      58             :     {
+      59       29213 :       const vec3_t rot_vec = rot*vec3_t::UnitX();
+      60       58426 :       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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Test:MRS UAV System - Test coverage reportLines:10413676.5 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)483
mrs_lib::UTM(double, double, double*, double*)2235
mrs_lib::LLtoUTM(double, double, double&, double&, char*)63084
mrs_lib::UTMLetterDesignator(double)63098
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mrs_lib::UTMLetterDesignator(double)63098
mrs_lib::UTM(double, double, double*, double*)2235
mrs_lib::LLtoUTM(double, double, double&, double&, char*)63084
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)483
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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        2235 :   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        2235 :     int cm = ((lon >= 0.0) ? ((int)lon - ((int)lon) % 6 + 3) : ((int)lon - ((int)lon) % 6 - 3));
+      63             : 
+      64             :     // convert degrees into radians
+      65        2235 :     double rlat  = lat * RADIANS_PER_DEGREE;
+      66        2235 :     double rlon  = lon * RADIANS_PER_DEGREE;
+      67        2235 :     double rlon0 = cm * RADIANS_PER_DEGREE;
+      68             : 
+      69             :     // compute trigonometric functions
+      70        2235 :     double slat = sin(rlat);
+      71        2235 :     double clat = cos(rlat);
+      72        2235 :     double tlat = tan(rlat);
+      73             : 
+      74             :     // decide the false northing at origin
+      75        2235 :     double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S;
+      76             : 
+      77        2235 :     double T = tlat * tlat;
+      78        2235 :     double C = UTM_EP2 * clat * clat;
+      79        2235 :     double A = (rlon - rlon0) * clat;
+      80        2235 :     double M = WGS84_A * (m0 * rlat + m1 * sin(2 * rlat) + m2 * sin(4 * rlat) + m3 * sin(6 * rlat));
+      81        2235 :     double V = WGS84_A / sqrt(1 - UTM_E2 * slat * slat);
+      82             : 
+      83             :     // compute the easting-northing coordinates
+      84        2235 :     *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        2235 :     *y = fn +
+      86        2235 :          UTM_K0 *
+      87        2235 :              (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        2235 :     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       63098 :   static inline char UTMLetterDesignator(double Lat) {
+     102             :     char LetterDesignator;
+     103             : 
+     104       63098 :     if ((84 >= Lat) && (Lat >= 72))
+     105           0 :       LetterDesignator = 'X';
+     106       63098 :     else if ((72 > Lat) && (Lat >= 64))
+     107           0 :       LetterDesignator = 'W';
+     108       63098 :     else if ((64 > Lat) && (Lat >= 56))
+     109           0 :       LetterDesignator = 'V';
+     110       63098 :     else if ((56 > Lat) && (Lat >= 48))
+     111           0 :       LetterDesignator = 'U';
+     112       63098 :     else if ((48 > Lat) && (Lat >= 40))
+     113       62764 :       LetterDesignator = 'T';
+     114         334 :     else if ((40 > Lat) && (Lat >= 32))
+     115           0 :       LetterDesignator = 'S';
+     116         334 :     else if ((32 > Lat) && (Lat >= 24))
+     117           0 :       LetterDesignator = 'R';
+     118         334 :     else if ((24 > Lat) && (Lat >= 16))
+     119           0 :       LetterDesignator = 'Q';
+     120         334 :     else if ((16 > Lat) && (Lat >= 8))
+     121           0 :       LetterDesignator = 'P';
+     122         334 :     else if ((8 > Lat) && (Lat >= 0))
+     123           2 :       LetterDesignator = 'N';
+     124         332 :     else if ((0 > Lat) && (Lat >= -8))
+     125           0 :       LetterDesignator = 'M';
+     126         332 :     else if ((-8 > Lat) && (Lat >= -16))
+     127           0 :       LetterDesignator = 'L';
+     128         332 :     else if ((-16 > Lat) && (Lat >= -24))
+     129           0 :       LetterDesignator = 'K';
+     130         332 :     else if ((-24 > Lat) && (Lat >= -32))
+     131           0 :       LetterDesignator = 'J';
+     132         332 :     else if ((-32 > Lat) && (Lat >= -40))
+     133           0 :       LetterDesignator = 'H';
+     134         332 :     else if ((-40 > Lat) && (Lat >= -48))
+     135           0 :       LetterDesignator = 'G';
+     136         332 :     else if ((-48 > Lat) && (Lat >= -56))
+     137           0 :       LetterDesignator = 'F';
+     138         332 :     else if ((-56 > Lat) && (Lat >= -64))
+     139           0 :       LetterDesignator = 'E';
+     140         332 :     else if ((-64 > Lat) && (Lat >= -72))
+     141           0 :       LetterDesignator = 'D';
+     142         332 :     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         332 :       LetterDesignator = 'Z';
+     147       63098 :     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       63084 :   static inline void LLtoUTM(const double Lat, const double Long, double& UTMNorthing, double& UTMEasting, char* UTMZone) {
+     160       63084 :     double a          = WGS84_A;
+     161       63084 :     double eccSquared = UTM_E2;
+     162       63084 :     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       63084 :     double LongTemp = (Long + 180) - int((Long + 180) / 360) * 360 - 180;
+     170             : 
+     171       63084 :     double LatRad  = Lat * RADIANS_PER_DEGREE;
+     172       63084 :     double LongRad = LongTemp * RADIANS_PER_DEGREE;
+     173             :     double LongOriginRad;
+     174             :     int    ZoneNumber;
+     175             : 
+     176       63084 :     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       63084 :     if (ZoneNumber > 99)
+     180           0 :       ZoneNumber = 99;
+     181       63084 :     if (ZoneNumber < -9)
+     182           0 :       ZoneNumber = -9;
+     183             : 
+     184       63084 :     if (Lat >= 56.0 && Lat < 64.0 && LongTemp >= 3.0 && LongTemp < 12.0)
+     185           0 :       ZoneNumber = 32;
+     186             : 
+     187             :     // Special zones for Svalbard
+     188       63084 :     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       63084 :     LongOrigin    = (ZoneNumber - 1) * 6 - 180 + 3;
+     200       63084 :     LongOriginRad = LongOrigin * RADIANS_PER_DEGREE;
+     201             : 
+     202             :     // compute the UTM Zone from the latitude and longitude
+     203       63084 :     snprintf(UTMZone, 4, "%d%c", ZoneNumber, UTMLetterDesignator(Lat));
+     204             : 
+     205       62912 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     206             : 
+     207       62912 :     N = a / sqrt(1 - eccSquared * sin(LatRad) * sin(LatRad));
+     208       62912 :     T = tan(LatRad) * tan(LatRad);
+     209       62912 :     C = eccPrimeSquared * cos(LatRad) * cos(LatRad);
+     210       62912 :     A = cos(LatRad) * (LongRad - LongOriginRad);
+     211             : 
+     212       62912 :     M = a * ((1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256) * LatRad -
+     213       62912 :              (3 * eccSquared / 8 + 3 * eccSquared * eccSquared / 32 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(2 * LatRad) +
+     214       62912 :              (15 * eccSquared * eccSquared / 256 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(4 * LatRad) -
+     215       62912 :              (35 * eccSquared * eccSquared * eccSquared / 3072) * sin(6 * LatRad));
+     216             : 
+     217       62912 :     UTMEasting =
+     218       62912 :         (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       62912 :     UTMNorthing = (double)(k0 * (M + N * tan(LatRad) *
+     221       62912 :                                          (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 +
+     222       62912 :                                           (61 - 58 * T + T * T + 600 * C - 330 * eccPrimeSquared) * A * A * A * A * A * A / 720)));
+     223       62912 :     if (Lat < 0)
+     224           0 :       UTMNorthing += 10000000.0;  // 10000000 meter offset for southern hemisphere
+     225       62912 :   }
+     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         483 :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, const char* UTMZone, double& Lat, double& Long) {
+     246         483 :     double                  k0         = UTM_K0;
+     247         483 :     double                  a          = WGS84_A;
+     248         483 :     double                  eccSquared = UTM_E2;
+     249             :     double                  eccPrimeSquared;
+     250         483 :     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         483 :     x = UTMEasting - 500000.0;  // remove 500,000 meter offset for longitude
+     261         483 :     y = UTMNorthing;
+     262             : 
+     263         483 :     ZoneNumber = strtoul(UTMZone, &ZoneLetter, 10);
+     264         483 :     if ((*ZoneLetter - 'N') >= 0)
+     265         483 :       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         483 :     LongOrigin = (ZoneNumber - 1) * 6 - 180 + 3;  //+3 puts origin in middle of zone
+     272             : 
+     273         483 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     274             : 
+     275         483 :     M  = y / k0;
+     276         483 :     mu = M / (a * (1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256));
+     277             : 
+     278         483 :     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         483 :               (151 * e1 * e1 * e1 / 96) * sin(6 * mu);
+     280         483 :     phi1 = phi1Rad * DEGREES_PER_RADIAN;
+     281             : 
+     282         483 :     N1 = a / sqrt(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad));
+     283         483 :     T1 = tan(phi1Rad) * tan(phi1Rad);
+     284         483 :     C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad);
+     285         483 :     R1 = a * (1 - eccSquared) / pow(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad), 1.5);
+     286         483 :     D  = x / (N1 * k0);
+     287             : 
+     288         483 :     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         483 :                                                 (61 + 90 * T1 + 298 * C1 + 45 * T1 * T1 - 252 * eccPrimeSquared - 3 * C1 * C1) * D * D * D * D * D * D / 720);
+     290         483 :     Lat = Lat * DEGREES_PER_RADIAN;
+     291             : 
+     292         483 :     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         483 :            cos(phi1Rad);
+     294         483 :     Long = LongOrigin + Long * DEGREES_PER_RADIAN;
+     295         483 :   }
+     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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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 1487.5 %14 / 16
publisher_handler.hpp +
69.2%69.2%
+ 		69.2 %36 / 5295.9 %186 / 194
service_client_handler.hpp +
92.9%92.9%
+ 		92.9 %52 / 5695.3 %41 / 43
subscribe_handler.hpp +
75.8%75.8%
+ 		75.8 %91 / 12043.4 %428 / 986
timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6481.2 %39 / 48
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
+
+
+ + + + +
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..d496536570 --- /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:2023-12-06 10:06:33Functions:141687.5 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
bool mrs_lib::ParamProvider::getParamImpl<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const0
bool mrs_lib::ParamProvider::getParam<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const0
bool mrs_lib::ParamProvider::getParamImpl<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const1
bool mrs_lib::ParamProvider::getParam<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const1
bool mrs_lib::ParamProvider::getParamImpl<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> >&) const845
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> >&) const845
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> > > >&) const1625
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> > > >&) const1625
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const2577
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const2577
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> >&) const7602
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> >&) const7602
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const9250
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const9250
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const18869
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const18869
+
+
+ + + +
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..71f2923054 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html @@ -0,0 +1,144 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - param_provider.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:91464.3 %
Date:2023-12-06 10:06:33Functions:141687.5 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
bool mrs_lib::ParamProvider::getParamImpl<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const7602
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> > > >&) const1625
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> >&) const845
bool mrs_lib::ParamProvider::getParamImpl<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const0
bool mrs_lib::ParamProvider::getParamImpl<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const1
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const9250
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const18869
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const2577
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> >&) const7602
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> > > >&) const1625
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> >&) const845
bool mrs_lib::ParamProvider::getParam<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const0
bool mrs_lib::ParamProvider::getParam<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const1
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const9250
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const18869
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const2577
+
+
+ + + +
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..7fced9e616 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - param_provider.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:91464.3 %
Date:2023-12-06 10:06:33Functions:141687.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef PARAM_PROVIDER_HPP
+       2             : #define PARAM_PROVIDER_HPP
+       3             : 
+       4             : #include <mrs_lib/param_provider.h>
+       5             : 
+       6             : namespace mrs_lib
+       7             : {
+       8             :   template <typename T>
+       9       40769 :   bool ParamProvider::getParam(const std::string& param_name, T& value_out) const
+      10             :   {
+      11             :     try
+      12             :     {
+      13       40769 :       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       40769 :   bool ParamProvider::getParamImpl(const std::string& param_name, T& value_out) const
+      24             :   {
+      25             :     {
+      26       40769 :       const auto found_node = findYamlNode(param_name);
+      27       40769 :       if (found_node.has_value())
+      28             :       {
+      29             :         try
+      30             :         {
+      31             :           // try catch is the only type-generic option...
+      32       35103 :           value_out = found_node.value().as<T>();
+      33       35803 :           return true;
+      34             :         }
+      35           0 :         catch (const YAML::BadConversion& e)
+      36             :         {}
+      37             :       }
+      38             : 
+      39             :     }
+      40             : 
+      41        5666 :     if (m_use_rosparam)
+      42        5666 :       return m_nh.getParam(param_name, value_out);
+      43             : 
+      44           0 :     return false;
+      45             :   }
+      46             : }
+      47             : 
+      48             : #endif // PARAM_PROVIDER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html new file mode 100644 index 0000000000..69615a5af4 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html @@ -0,0 +1,32 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..ade5b52da3b6b1fdc1937ea78b6f4e330848bd5b GIT binary patch literal 347 zcmeAS@N?(olHy`uVBq!ia0vp^0YGfP!VDx!PCqyTq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?exI8~cZ8YuYE)5S5wqIYZPZNU}=o)*3ZtZx{i z8u&c^ua)V4vEbQ`uWa8BH!8ks+tGO{D*FweDWeR>Vxdgy18WjYI0V;~sH}Yceuu!e z0;l^`b$NRN&slSXO8W};Xs>xVM=ia4YFWZ0Ew@EJE}d3Ju7autr`5k7@L&&0yLLsS zDBjGHPiM9KksV){!x#LxZ@Z~}-j3&;nl`5^?b8Y_Wi{U3e%V`LO6vLxN&VqovDxc< zWm#+Y&A45X$$2MVXKT~#-D!1_>~XuLzF#sey8p%D#18$4a?^(i^D?KlC?1vmcshZ# noy}F#!c60lb+eQ5{_FfwLML{x?EUc*=xGK|S3j3^P6 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:365269.2 %
Date:2023-12-06 10:06:33Functions:18619495.9 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::publish(mrs_msgs::BumperStatus_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)0
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::publish(mrs_msgs::BumperStatus_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)1
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)5
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)5
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&)5
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&)44
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)44
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&)44
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&)47
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)47
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)47
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&)47
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&)47
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&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)47
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&)47
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&)47
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&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)47
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&)47
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&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)47
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&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)47
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&)47
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&)47
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
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&)47
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)80
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)80
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)94
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&)94
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)94
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&)94
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)128
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)128
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&)128
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&)141
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)141
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&)141
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&)172
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)172
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&)172
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&)188
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)188
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&)188
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)190
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&)194
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&)194
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&)275
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)275
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&)275
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&)282
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)282
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&)282
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&)348
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)348
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&)348
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)366
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)366
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)462
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)462
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)463
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)463
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)511
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)511
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)514
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)514
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)578
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)578
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)644
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)644
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)871
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)871
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)891
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)891
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)960
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)960
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)2762
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)2762
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2956
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2956
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)3042
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)3042
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)3204
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)3204
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)3303
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)3303
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)3732
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)3732
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)4811
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)4811
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)4830
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)4830
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)5144
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)6680
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)6680
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)6680
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)6680
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)9466
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)9466
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)23149
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)23149
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)29129
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)29129
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)32926
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)32926
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)40578
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)40578
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)45724
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)45724
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)49992
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)49992
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)66908
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)66908
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)100733
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)100733
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)103811
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)103812
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)141447
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)141563
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)190229
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)190236
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)191418
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)191574
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)904765
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)904869
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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..781f93dc61 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.func.html @@ -0,0 +1,856 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:365269.2 %
Date:2023-12-06 10:06:33Functions:18619495.9 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)45724
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&)188
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)188
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)80
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)47
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)49992
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&)44
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)44
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)9466
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&)282
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)282
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::publish(mrs_msgs::BumperStatus_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)47
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)3042
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&)47
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)29129
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&)47
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)103812
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&)275
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)275
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)32926
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&)47
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)191574
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&)172
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)172
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)578
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&)47
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2956
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&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)3204
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&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)366
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&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)3732
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&)47
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)904765
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&)348
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)348
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)141563
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&)128
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)128
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)511
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&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)94
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&)23149
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&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)2762
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&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)40578
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&)47
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)4830
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&)47
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)6680
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&)47
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)644
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&)47
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)463
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&)47
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)871
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&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)514
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&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)4811
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&)47
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)891
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&)47
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)462
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&)47
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)47
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&)47
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)100733
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&)94
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)94
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)190236
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)5144
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&)194
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)190
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)960
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&)5
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)5
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)3303
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&)47
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)47
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&)6680
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&)47
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)47
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)66908
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&)141
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)141
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)45724
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&)188
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)80
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)47
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)49992
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&)44
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)9466
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&)282
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::publish(mrs_msgs::BumperStatus_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)3042
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)29129
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)103811
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&)275
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)32926
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)191418
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&)172
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)578
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2956
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)3204
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)366
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)3732
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)904869
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&)348
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)141447
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&)128
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)511
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&)47
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&)23149
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)2762
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)40578
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)4830
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)6680
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)644
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)463
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)871
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)514
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)4811
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)891
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)462
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&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)47
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)100733
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&)94
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)190229
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&)194
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)960
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&)5
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)3303
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&)47
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&)6680
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&)47
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)66908
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&)141
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+
+ + + +
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..e915088884 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.html @@ -0,0 +1,332 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:365269.2 %
Date:2023-12-06 10:06:33Functions:18619495.9 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef PUBLISHER_HANDLER_HPP
+       2             : #define PUBLISHER_HANDLER_HPP
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : 
+       7             : // --------------------------------------------------------------
+       8             : // |                    PublisherHandler_impl                   |
+       9             : // --------------------------------------------------------------
+      10             : 
+      11             : /* PublisherHandler_impl(void) //{ */
+      12             : 
+      13             : template <class TopicType>
+      14             : PublisherHandler_impl<TopicType>::PublisherHandler_impl(void) : publisher_initialized_(false) {
+      15             : }
+      16             : 
+      17             : //}
+      18             : 
+      19             : /* PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int &buffer_size, const bool &latch) //{ */
+      20             : 
+      21             : template <class TopicType>
+      22        3095 : PublisherHandler_impl<TopicType>::PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+      23        3095 :                                                         const double& rate) {
+      24             : 
+      25             :   {
+      26        3095 :     std::scoped_lock lock(mutex_publisher_);
+      27             : 
+      28        3095 :     publisher_ = nh.advertise<TopicType>(address, buffer_size, latch);
+      29             : 
+      30        3095 :     if (rate > 0.0) {
+      31             : 
+      32         330 :       throttle_ = true;
+      33             : 
+      34         330 :       throttle_min_dt_ = 1.0 / rate;
+      35             : 
+      36             :     } else {
+      37             : 
+      38        2765 :       throttle_ = false;
+      39             : 
+      40        2765 :       throttle_min_dt_ = 0;
+      41             :     }
+      42             : 
+      43        3095 :     last_time_published_ = ros::Time(0);
+      44             :   }
+      45             : 
+      46        3095 :   publisher_initialized_ = true;
+      47        3095 : }
+      48             : 
+      49             : //}
+      50             : 
+      51             : /* publish(TopicType& msg) //{ */
+      52             : 
+      53             : template <class TopicType>
+      54     1978830 : void PublisherHandler_impl<TopicType>::publish(const TopicType& msg) {
+      55             : 
+      56     1978830 :   if (!publisher_initialized_) {
+      57           0 :     return;
+      58             :   }
+      59             : 
+      60             :   {
+      61     1978267 :     std::scoped_lock lock(mutex_publisher_);
+      62             : 
+      63     1978315 :     if (throttle_) {
+      64             : 
+      65       80233 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      66       49234 :         return;
+      67             :       }
+      68             : 
+      69       30999 :       last_time_published_ = ros::Time::now();
+      70             :     }
+      71             : 
+      72             :     try {
+      73     1929082 :       publisher_.publish(msg);
+      74             :     }
+      75           0 :     catch (...) {
+      76           0 :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+      77             :     }
+      78             :   }
+      79             : }
+      80             : 
+      81             : //}
+      82             : 
+      83             : /* publish(const boost::shared_ptr<TopicType>& msg) //{ */
+      84             : 
+      85             : template <class TopicType>
+      86             : void PublisherHandler_impl<TopicType>::publish(const boost::shared_ptr<TopicType>& msg) {
+      87             : 
+      88             :   if (!publisher_initialized_) {
+      89             :     return;
+      90             :   }
+      91             : 
+      92             :   {
+      93             :     std::scoped_lock lock(mutex_publisher_);
+      94             : 
+      95             :     if (throttle_) {
+      96             : 
+      97             :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      98             :         return;
+      99             :       }
+     100             : 
+     101             :       last_time_published_ = ros::Time::now();
+     102             :     }
+     103             : 
+     104             :     try {
+     105             :       publisher_.publish(msg);
+     106             :     }
+     107             :     catch (...) {
+     108             :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+     109             :     }
+     110             :   }
+     111             : }
+     112             : 
+     113             : //}
+     114             : 
+     115             : /* publish(const boost::shared_ptr<TopicType const>& msg) //{ */
+     116             : 
+     117             : template <class TopicType>
+     118           0 : void PublisherHandler_impl<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     119             : 
+     120           0 :   if (!publisher_initialized_) {
+     121             :     return;
+     122             :   }
+     123             : 
+     124             :   {
+     125           0 :     std::scoped_lock lock(mutex_publisher_);
+     126             : 
+     127           0 :     if (throttle_) {
+     128             : 
+     129           0 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+     130           0 :         return;
+     131             :       }
+     132             : 
+     133           0 :       last_time_published_ = ros::Time::now();
+     134             :     }
+     135             : 
+     136             :     try {
+     137           0 :       publisher_.publish(msg);
+     138             :     }
+     139           0 :     catch (...) {
+     140           0 :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+     141             :     }
+     142             :   }
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* getNumSubscribers(void) //{ */
+     148             : 
+     149             : template <class TopicType>
+     150             : unsigned int PublisherHandler_impl<TopicType>::getNumSubscribers(void) {
+     151             : 
+     152             :   {
+     153             :     std::scoped_lock lock(mutex_publisher_);
+     154             : 
+     155             :     return publisher_.getNumSubscribers();
+     156             :   }
+     157             : }
+     158             : 
+     159             : //}
+     160             : 
+     161             : // --------------------------------------------------------------
+     162             : // |                      PublisherHandler                      |
+     163             : // --------------------------------------------------------------
+     164             : 
+     165             : /* operator= //{ */
+     166             : 
+     167             : template <class TopicType>
+     168        3512 : PublisherHandler<TopicType>& PublisherHandler<TopicType>::operator=(const PublisherHandler<TopicType>& other) {
+     169             : 
+     170        3465 :   if (this == &other) {
+     171           0 :     return *this;
+     172             :   }
+     173             : 
+     174        3512 :   if (other.impl_) {
+     175        3559 :     this->impl_ = other.impl_;
+     176             :   }
+     177             : 
+     178        3465 :   return *this;
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* copy constructor //{ */
+     184             : 
+     185             : template <class TopicType>
+     186        5144 : PublisherHandler<TopicType>::PublisherHandler(const PublisherHandler<TopicType>& other) {
+     187             : 
+     188        5144 :   if (other.impl_) {
+     189        5144 :     this->impl_ = other.impl_;
+     190             :   }
+     191        5144 : }
+     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        3095 : PublisherHandler<TopicType>::PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+     199        3095 :                                               const double& rate) {
+     200             : 
+     201        3095 :   impl_ = std::make_shared<PublisherHandler_impl<TopicType>>(nh, address, buffer_size, latch, rate);
+     202        3095 : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* publish(const TopicType& msg) //{ */
+     207             : 
+     208             : template <class TopicType>
+     209     1979006 : void PublisherHandler<TopicType>::publish(const TopicType& msg) {
+     210             : 
+     211     1979006 :   impl_->publish(msg);
+     212     1979685 : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* publish(const boost::shared_ptr<TopicType>& msg) //{ */
+     217             : 
+     218             : template <class TopicType>
+     219             : void PublisherHandler<TopicType>::publish(const boost::shared_ptr<TopicType>& msg) {
+     220             : 
+     221             :   impl_->publish(msg);
+     222             : }
+     223             : 
+     224             : //}
+     225             : 
+     226             : /* publish(const boost::shared_ptr<TopicType const>& msg) //{ */
+     227             : 
+     228             : template <class TopicType>
+     229           0 : void PublisherHandler<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     230             : 
+     231           0 :   impl_->publish(msg);
+     232             : }
+     233             : 
+     234             : //}
+     235             : 
+     236             : /* getNumSubscribers(void) //{ */
+     237             : 
+     238             : template <class TopicType>
+     239             : unsigned int PublisherHandler<TopicType>::getNumSubscribers(void) {
+     240             : 
+     241             :   return impl_->getNumSubscribers();
+     242             : }
+     243             : 
+     244             : //}
+     245             : 
+     246             : }  // namespace mrs_lib
+     247             : 
+     248             : #endif  // PUBLISHER_HANDLER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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+ + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..f0839d3892eb8a0eba65adaf8ce7905cc3eba886 GIT binary patch literal 842 zcmV-Q1GW5#P)=>m zU>D|b0z~ScVXVkBsmcB+HC7d4!8eUD;62%-fC!s*h*D-NRht<)qO^dTf`%fDXq{As z)~<+dwCWx2POZAaq*knlE?PA?akpG6o5n0tOi!ulT}03_f$%Hq zBkyv`km_SzBa&LA(^L}a8B;{Lt2oc^_j{R}GR%OIRmA1i(k$!5&=DibmC7o9c&{wt z)Tp)|5!yC5-(#s%6o|Z_NSTHP3U}gTr8?t2nham`Z!3SbqS*^hUiM4o-}-I;T8mc1 z_5z;aPwF4DHj>#U@)#oChwt4g($5d9#=+FRgt+V$s%P639k9_2I(@$` z`98{{lnCB_$ud?ShxArj(}R6n?|q1Rvhlc2I3B%Ted=BJo?9Q8I9?(np6ij`&Zb<_ z&j+l9GiPD?%~$2n1pCJu>*IE=$BQa12BpXIvr7yeF`|4~(kO247mJ8cZWN(51?PKC z8l>QD$u!y^;R4pj#K%&Q$v*z~kDU-%QWn2?zjhWyMW~I=t-aZ2KYYr^$7N4Jiccy6 z_t8g}KdI=F+8zkiy8NJ;q7qFcrm1W~36C z_rNn!ST5OxYc3wX^M4>7%kV6%BRMc5{eJd5YaYIxV9cL9+{KMi&a(5d_T^2kHExfd z_)#H|$MJJ|o7r}S^hqJ~xAgNz6Cs4fLr6Ii! + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2023-12-06 10:06:33Functions:414395.3 %
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>::call(mrs_msgs::ReferenceStampedSrv&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::call(mrs_msgs::PathSrv&)1
mrs_lib::ServiceClientHandler<mrs_msgs::PathSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&, int const&, double const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::asyncRun()2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)5
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)5
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)30
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)30
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)47
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)47
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)64
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec4> const&)64
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)64
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)96
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)96
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)96
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)164
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)165
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)195
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)195
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)370
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)372
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)372
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)470
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)471
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)586
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)588
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)635
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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.func.html b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func.html new file mode 100644 index 0000000000..1700d3c5ca --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func.html @@ -0,0 +1,252 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - service_client_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:525692.9 %
Date:2023-12-06 10:06:33Functions:414395.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)0
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)47
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)5
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)47
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)30
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)64
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec4> const&)64
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)195
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)96
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)96
mrs_lib::ServiceClientHandler<mrs_msgs::PathSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)164
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)372
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)370
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)470
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&)588
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)586
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)5
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)30
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)64
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)195
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)96
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::call(mrs_msgs::PathSrv&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)165
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)372
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)471
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&)635
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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..64e80ea6e8 --- /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:2023-12-06 10:06:33Functions:414395.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef SERVICE_CLIENT_HANDLER_HPP
+       2             : #define SERVICE_CLIENT_HANDLER_HPP
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : 
+       7             : // --------------------------------------------------------------
+       8             : // |                  ServiceClientHandler_impl                 |
+       9             : // --------------------------------------------------------------
+      10             : 
+      11             : /* ServiceClientHandler_impl(void) //{ */
+      12             : 
+      13             : template <class ServiceType>
+      14             : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(void) : service_initialized_(false) {
+      15             : }
+      16             : 
+      17             : //}
+      18             : 
+      19             : /* ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) //{ */
+      20             : 
+      21             : template <class ServiceType>
+      22        1310 : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) {
+      23             : 
+      24             :   {
+      25        1310 :     std::scoped_lock lock(mutex_service_client_);
+      26             : 
+      27        1310 :     service_client_ = nh.serviceClient<ServiceType>(address);
+      28             :   }
+      29             : 
+      30        1310 :   _address_       = address;
+      31        1310 :   async_attempts_ = 1;
+      32             : 
+      33             :   /* thread_oneshot_ = std::make_shared<std::thread>(std::thread(&ServiceClientHandler_impl::threadOneshot, this, true, false)); */
+      34             : 
+      35        1310 :   service_initialized_ = true;
+      36        1310 : }
+      37             : 
+      38             : //}
+      39             : 
+      40             : /* call(ServiceType& srv) //{ */
+      41             : 
+      42             : template <class ServiceType>
+      43         914 : bool ServiceClientHandler_impl<ServiceType>::call(ServiceType& srv) {
+      44             : 
+      45         914 :   if (!service_initialized_) {
+      46           0 :     return false;
+      47             :   }
+      48             : 
+      49         914 :   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        1263 : ServiceClientHandler<ServiceType>& ServiceClientHandler<ServiceType>::operator=(const ServiceClientHandler<ServiceType>& other) {
+     205             : 
+     206        1263 :   if (this == &other) {
+     207           0 :     return *this;
+     208             :   }
+     209             : 
+     210        1263 :   if (other.impl_) {
+     211        1269 :     this->impl_ = other.impl_;
+     212             :   }
+     213             : 
+     214        1257 :   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        1263 : ServiceClientHandler<ServiceType>::ServiceClientHandler(ros::NodeHandle& nh, const std::string& address) {
+     235             : 
+     236        1263 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     237        1263 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : /* initialize(ros::NodeHandle& nh, const std::string& address) //{ */
+     242             : 
+     243             : template <class ServiceType>
+     244          47 : void ServiceClientHandler<ServiceType>::initialize(ros::NodeHandle& nh, const std::string& address) {
+     245             : 
+     246          47 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     247          47 : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* call(ServiceType& srv) //{ */
+     252             : 
+     253             : template <class ServiceType>
+     254         914 : bool ServiceClientHandler<ServiceType>::call(ServiceType& srv) {
+     255             : 
+     256         914 :   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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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::Joy_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::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::Bool_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::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::Bool_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const1
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const2
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const3
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::lastMsgTime() const5
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::start()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().26
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::start()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl().26
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const6
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()7
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&)7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().27
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::start()7
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&)7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().27
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const7
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::start()8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().28
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::start()8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl().28
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const8
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().29
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::start()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().29
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const9
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const21
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()41
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&)41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().241
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::start()41
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&)41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().241
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const41
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const42
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()44
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&)44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::start()44
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&)44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const44
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const47
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const47
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const49
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const49
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().251
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::start()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().251
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().251
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::start()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().251
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const51
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const53
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const57
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&)84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().284
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&)84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().284
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const85
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()88
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::start()88
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()91
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&)91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().291
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::start()91
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&)91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().291
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const91
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::start()94
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&)94
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()94
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().294
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::start()94
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&)94
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().294
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()94
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&)94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().294
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::start()94
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&)94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().294
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()94
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&)94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().294
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::start()94
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&)94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().294
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::lastMsgTime() const94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const94
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()96
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()96
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const96
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const96
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()103
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&)103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::start()103
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&)103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const103
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()134
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&)134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::start()134
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&)134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const134
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()141
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&)141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::start()141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()141
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&)141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const141
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)144
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)144
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()146
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&)146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::start()146
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&)146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2146
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()147
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()147
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const147
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const147
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const149
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()175
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&)175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::start()175
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&)175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const175
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const177
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()181
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&)181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::start()181
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&)181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const181
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()188
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&)188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::start()188
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&)188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const188
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const188
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const221
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const221
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()227
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&)227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()227
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&)227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2227
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&)234
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2234
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::start()236
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&)236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2236
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const250
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const250
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const250
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const250
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const>)> const&)281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2281
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::start()283
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&)283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const283
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const293
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()477
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()477
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const477
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const477
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)511
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)511
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)512
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)512
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)610
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)610
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const1048
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::hasMsg() const1048
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)1469
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)1494
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)1512
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)1513
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2835
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const2835
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)3289
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)3293
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)5884
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)5884
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)6094
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)6094
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()9877
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()9877
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const9877
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const9877
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::lastMsgTime() const9877
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const9877
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const12227
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::hasMsg() const12227
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const14723
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const14723
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()16092
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const16096
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()16098
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const16098
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()18558
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const18567
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()18568
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const18569
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::hasMsg() const19743
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const19754
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)23800
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)23852
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)28628
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)28740
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const30539
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const30832
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)32903
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)32903
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)40553
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)40553
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()49780
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()49780
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const49780
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const49780
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::hasMsg() const49780
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const49780
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()49856
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()49856
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const49856
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const49856
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)49975
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)49975
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const66350
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::lastMsgTime() const66350
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const75550
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const75878
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const75878
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const75974
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)93427
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)93444
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const93671
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const93675
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)94731
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)94762
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const95001
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::lastMsgTime() const95069
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::hasMsg() const101620
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const101622
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)104519
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)104519
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)106589
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)106698
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)108146
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)108192
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)120973
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)121134
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const124716
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()124823
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()124843
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const124844
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()142361
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()142363
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const142363
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const142363
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const145433
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const145587
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)164554
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)164750
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()217703
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const217709
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const217710
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()217711
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)225103
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)225278
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const270807
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const270827
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)352184
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)352203
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)498729
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)498895
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)598958
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)599380
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()1285330500
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const1285330500
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1458730500
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()1458730501
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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:9112075.8 %
Date:2023-12-06 10:06:33Functions:42898643.4 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)121134
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()181
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&)181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2181
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&)120973
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()181
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&)181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2181
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()94
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&)94
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()94
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().294
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()94
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&)94
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().294
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)104519
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()477
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&)41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().241
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&)104519
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()41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()477
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&)41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().241
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&)225278
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()88
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()96
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&)84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().284
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&)225103
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()88
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()96
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&)84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().284
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)352184
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()49856
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&)134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2134
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&)352203
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()134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()49856
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&)134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2134
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)599380
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()217703
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&)227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2227
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&)598958
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()217711
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&)227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2227
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)498895
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()147
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&)103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2103
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&)498729
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()103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()147
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&)103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)108192
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()49780
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&)91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().291
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&)108146
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()91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()49780
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&)91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().291
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)106698
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()124843
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&)175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2175
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&)106589
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()175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()124823
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&)175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2175
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)94731
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()16092
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&)188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2188
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&)94762
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()188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()16098
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&)188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2188
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)32903
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
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&)32903
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()47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)49975
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()44
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&)44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().244
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&)49975
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()44
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&)44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().244
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)6094
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
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&)6094
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()47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::start()47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
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()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)1512
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()141
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&)141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2141
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&)1513
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()141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()141
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&)141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2141
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()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
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()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().247
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()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
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()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)40553
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
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&)40553
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()47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)28740
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()18558
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const>)> const&)281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)28628
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()283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()18568
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&)283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2283
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)144
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().29
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&)144
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()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().29
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)512
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().251
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&)512
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()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().251
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)610
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().27
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&)610
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()7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().27
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()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().247
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()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().247
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)23852
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()1458730501
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&)234
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2234
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&)23800
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()236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()1285330500
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&)236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2236
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)511
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().251
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&)511
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()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().251
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)3293
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::start()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().26
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)3289
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::start()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl().26
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)93444
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()94
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&)94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().294
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&)93427
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()94
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&)94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().294
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)164750
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()142361
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&)146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2146
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&)164554
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()146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()142363
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&)146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2146
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)1494
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::start()8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().28
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)1469
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::start()8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl().28
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)5884
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()9877
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&)94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().294
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&)5884
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()94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()9877
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&)94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().294
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]() const181
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]() const94
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const1048
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const477
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() const1048
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const477
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]() const41
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() const12227
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const96
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() const12227
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const96
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]() const85
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const101622
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const49856
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() const101620
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const49856
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]() const134
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const270807
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const217710
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]() const53
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const270827
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const217709
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]() const281
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const147
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() const94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const147
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]() const103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const49780
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const49780
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() const49780
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const49780
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]() const91
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const95001
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const145587
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const124716
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() const95069
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const145433
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const124844
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]() const175
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const19754
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const16096
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() const19743
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const16098
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]() const188
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
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]() const44
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const221
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const141
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]() const47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const221
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const141
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]() const188
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]() const47
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]() const47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const49
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const49
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const30832
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const18567
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() const30539
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const18569
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]() const283
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2835
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() const2835
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]() const9
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const47
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const250
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() const47
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const250
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]() const51
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const7
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]() const47
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const75974
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1458730500
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]() const57
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const75550
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const1285330500
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]() const293
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const47
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const250
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() const47
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const250
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]() const51
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const42
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() const42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const6
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const66350
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const75878
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() const66350
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const75878
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]() const94
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const93671
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const142363
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const3
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const93675
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const142363
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]() const149
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const8
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const9877
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const14723
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const9877
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() const9877
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const14723
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const9877
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]() const94
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.frameset.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.frameset.html new file mode 100644 index 0000000000..19a3af8db0 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.html new file mode 100644 index 0000000000..ff5e0ae129 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.html @@ -0,0 +1,413 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - subscribe_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9112075.8 %
Date:2023-12-06 10:06:33Functions:42898643.4 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : #ifndef SUBSCRIBE_HANDLER_HPP
+       4             : #define SUBSCRIBE_HANDLER_HPP
+       5             : 
+       6             : #include <mrs_lib/subscribe_handler.h>
+       7             : #include <mrs_lib/timer.h>
+       8             : #include <mutex>
+       9             : #include <condition_variable>
+      10             : 
+      11             : namespace mrs_lib
+      12             : {
+      13             :   /* SubscribeHandler::Impl class //{ */
+      14             :   // implements the constructor, getMsg() method and data_callback method (non-thread-safe)
+      15             :   template <typename MessageType>
+      16             :   class SubscribeHandler<MessageType>::Impl
+      17             :   {
+      18             :   public:
+      19             :     using timeout_callback_t = typename SubscribeHandler<MessageType>::timeout_callback_t;
+      20             :     using message_callback_t = typename SubscribeHandler<MessageType>::message_callback_t;
+      21             :     using data_callback_t = std::function<void(const typename MessageType::ConstPtr&)>;
+      22             : 
+      23             :   private:
+      24             :     friend class SubscribeHandler<MessageType>;
+      25             : 
+      26             :   public:
+      27             :     /* constructor //{ */
+      28        2864 :     Impl(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+      29        2864 :         : m_nh(options.nh),
+      30        2864 :           m_topic_name(options.topic_name),
+      31        2864 :           m_node_name(options.node_name),
+      32             :           m_got_data(false),
+      33             :           m_new_data(false),
+      34             :           m_used_data(false),
+      35        2864 :           m_timeout_manager(options.timeout_manager),
+      36             :           m_latest_message_time(0),
+      37             :           m_latest_message(nullptr),
+      38             :           m_message_callback(message_callback),
+      39        2864 :           m_queue_size(options.queue_size),
+      40        2872 :           m_transport_hints(options.transport_hints)
+      41             :     {
+      42        2864 :       if (options.no_message_timeout != mrs_lib::no_timeout)
+      43             :       {
+      44             :         // initialize a new TimeoutManager if not provided by the user
+      45           2 :         if (!m_timeout_manager)
+      46           2 :           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           4 :         std::function<void(const ros::Time&)> timeout_mgr_callback;
+      50           2 :         if (options.timeout_callback)
+      51           1 :           timeout_mgr_callback = std::bind(options.timeout_callback, topicName(), std::placeholders::_1);
+      52             :         else
+      53           1 :           timeout_mgr_callback = std::bind(&Impl::default_timeout_callback, this, topicName(), std::placeholders::_1);
+      54             : 
+      55             :         // register the timeout callback with the TimeoutManager
+      56           2 :         m_timeout_id = m_timeout_manager->registerNew(options.no_message_timeout, timeout_mgr_callback);
+      57             :       }
+      58             : 
+      59        8588 :       const std::string msg = "Subscribed to topic '" + m_topic_name + "' -> '" + topicName() + "'";
+      60        2864 :       if (m_node_name.empty())
+      61           1 :         ROS_INFO_STREAM(msg);
+      62             :       else
+      63        2869 :         ROS_INFO_STREAM("[" << m_node_name << "]: " << msg);
+      64        2864 :     }
+      65             :     //}
+      66             : 
+      67        2876 :     virtual ~Impl() = default;
+      68             : 
+      69             :   public:
+      70             :     /* getMsg() method //{ */
+      71  1459360659 :     virtual typename MessageType::ConstPtr getMsg()
+      72             :     {
+      73  1459360659 :       m_new_data = false;
+      74  1459360659 :       m_used_data = true;
+      75  1459360659 :       return peekMsg();
+      76             :     }
+      77             :     //}
+      78             : 
+      79             :     /* peekMsg() method //{ */
+      80  1459360679 :     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  1632761679 :       return m_latest_message;
+      87             :     }
+      88             :     //}
+      89             : 
+      90             :     /* hasMsg() method //{ */
+      91      750099 :     virtual bool hasMsg() const
+      92             :     {
+      93      750099 :       return m_got_data;
+      94             :     }
+      95             :     //}
+      96             : 
+      97             :     /* newMsg() method //{ */
+      98      145433 :     virtual bool newMsg() const
+      99             :     {
+     100      145433 :       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      171489 :     virtual ros::Time lastMsgTime() const
+     130             :     {
+     131      171489 :       return m_latest_message_time;
+     132             :     };
+     133             :     //}
+     134             : 
+     135             :     /* topicName() method //{ */
+     136        3026 :     virtual std::string topicName() const
+     137             :     {
+     138        3026 :       std::string ret = m_sub.getTopic();
+     139        3026 :       if (ret.empty())
+     140        2866 :         ret = m_nh.resolveName(m_topic_name);
+     141        3026 :       return ret;
+     142             :     }
+     143             :     //}
+     144             : 
+     145             :     /* start() method //{ */
+     146        2868 :     virtual void start()
+     147             :     {
+     148        2868 :       if (m_timeout_manager)
+     149           6 :         m_timeout_manager->start(m_timeout_id);
+     150        2868 :       m_sub = m_nh.subscribe(m_topic_name, m_queue_size, &Impl::data_callback, this, m_transport_hints);
+     151        2868 :     }
+     152             :     //}
+     153             : 
+     154             :     /* stop() method //{ */
+     155           5 :     virtual void stop()
+     156             :     {
+     157           5 :       if (m_timeout_manager)
+     158           5 :         m_timeout_manager->pause(m_timeout_id);
+     159           5 :       m_sub.shutdown();
+     160           5 :     }
+     161             :     //}
+     162             : 
+     163             :   protected:
+     164             :     ros::NodeHandle m_nh;
+     165             :     ros::Subscriber m_sub;
+     166             : 
+     167             :   protected:
+     168             :     std::string m_topic_name;
+     169             :     std::string m_node_name;
+     170             : 
+     171             :   protected:
+     172             :     bool m_got_data;   // whether any data was received
+     173             : 
+     174             :     mutable std::mutex m_new_data_mtx;
+     175             :     mutable std::condition_variable m_new_data_cv;
+     176             :     bool m_new_data;   // whether new data was received since last call to get_data
+     177             : 
+     178             :     bool m_used_data;  // whether get_data was successfully called at least once
+     179             : 
+     180             :   protected:
+     181             :     std::shared_ptr<mrs_lib::TimeoutManager> m_timeout_manager;
+     182             :     mrs_lib::TimeoutManager::timeout_id_t m_timeout_id;
+     183             : 
+     184             :   protected:
+     185             :     ros::Time m_latest_message_time;
+     186             :     typename MessageType::ConstPtr m_latest_message;
+     187             :     message_callback_t m_message_callback;
+     188             : 
+     189             :   private:
+     190             :     uint32_t m_queue_size;
+     191             :     ros::TransportHints m_transport_hints;
+     192             : 
+     193             :   protected:
+     194             :     /* default_timeout_callback() method //{ */
+     195           0 :     void default_timeout_callback(const std::string& topic_name, const ros::Time& last_msg)
+     196             :     {
+     197           0 :       const ros::Duration since_msg = (ros::Time::now() - last_msg);
+     198           0 :       const auto n_pubs = m_sub.getNumPublishers();
+     199           0 :       const std::string txt = "Did not receive any message from topic '" + topic_name + "' for " + std::to_string(since_msg.toSec()) + "s ("
+     200             :                               + std::to_string(n_pubs) + " publishers on this topic)";
+     201           0 :       if (m_node_name.empty())
+     202           0 :         ROS_WARN_STREAM(txt);
+     203             :       else
+     204           0 :         ROS_WARN_STREAM("[" << m_node_name << "]: " << txt);
+     205           0 :     }
+     206             :     //}
+     207             : 
+     208             :     /* process_new_message() method //{ */
+     209     2663848 :     void process_new_message(const typename MessageType::ConstPtr& msg)
+     210             :     {
+     211     2663848 :       m_latest_message_time = ros::Time::now();
+     212     2666059 :       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     2665209 :       m_new_data = !m_message_callback;
+     216     2663330 :       m_got_data = true;
+     217     2663330 :       m_new_data_cv.notify_one();
+     218     2665838 :     }
+     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        2864 :     ImplThreadsafe(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+     254        2864 :         : impl_class_t::Impl(options, message_callback)
+     255             :     {
+     256        2860 :     }
+     257             : 
+     258             :   public:
+     259      750086 :     virtual bool hasMsg() const override
+     260             :     {
+     261     1499443 :       std::lock_guard lck(m_mtx);
+     262     1499517 :       return impl_class_t::hasMsg();
+     263             :     }
+     264      145587 :     virtual bool newMsg() const override
+     265             :     {
+     266      290741 :       std::lock_guard lck(m_mtx);
+     267      290647 :       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  1459360654 :     virtual typename MessageType::ConstPtr getMsg() override
+     275             :     {
+     276  2745322127 :       std::lock_guard lck(m_mtx);
+     277  2918722958 :       return impl_class_t::getMsg();
+     278             :     }
+     279  1459360548 :     virtual typename MessageType::ConstPtr peekMsg() const override
+     280             :     {
+     281  2745321910 :       std::lock_guard lck(m_mtx);
+     282  2918722842 :       return impl_class_t::peekMsg();
+     283             :     }
+     284      171421 :     virtual ros::Time lastMsgTime() const override
+     285             :     {
+     286      342876 :       std::lock_guard lck(m_mtx);
+     287      342814 :       return impl_class_t::lastMsgTime();
+     288             :     };
+     289         160 :     virtual std::string topicName() const override
+     290             :     {
+     291         320 :       std::lock_guard lck(m_mtx);
+     292         320 :       return impl_class_t::topicName();
+     293             :     };
+     294        2868 :     virtual void start() override
+     295             :     {
+     296        5732 :       std::lock_guard lck(m_mtx);
+     297        5736 :       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        5724 :     virtual ~ImplThreadsafe() override = default;
+     306             : 
+     307             :   protected:
+     308     2665282 :     virtual void data_callback(const typename MessageType::ConstPtr& msg) override
+     309             :     {
+     310             :       {
+     311     5328314 :         std::scoped_lock lck(m_mtx, this->m_new_data_mtx);
+     312     2656931 :         if (this->m_timeout_manager)
+     313        2317 :           this->m_timeout_manager->reset(this->m_timeout_id);
+     314     2645095 :         impl_class_t::process_new_message(msg);
+     315             :       }
+     316             : 
+     317             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     318     2658348 :       if (this->m_message_callback)
+     319     1573372 :         impl_class_t::m_message_callback(msg);
+     320     2656574 :     }
+     321             : 
+     322             :   private:
+     323             :     mutable std::recursive_mutex m_mtx;
+     324             :   };
+     325             :   //}
+     326             : 
+     327             : }  // namespace mrs_lib
+     328             : 
+     329             : #endif  // SUBSCRIBE_HANDLER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - timer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:141687.5 %
Date:2023-12-06 10:06:33Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Duration const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ROSTimer::ROSTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
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+ + + 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..80afe3f694 --- /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 + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib/impl - timer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:141687.5 %
Date:2023-12-06 10:06:33Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Duration const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ROSTimer::ROSTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
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Current view:top level - mrs_lib/include/mrs_lib/impl - timer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:141687.5 %
Date:2023-12-06 10:06:33Functions: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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Generated by: LCOV version 1.14
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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:2023-12-06 10:06:33Functions:394881.2 %
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Function Name Sort by function nameHit count Sort by hit count
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::doTransform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
geometry_msgs::Quaternion_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Vector3Stamped_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Point_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
cv::Point3_<double> mrs_lib::Transformer::copyChangeFrame<cv::Point3_<double> >(cv::Point3_<double> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
Eigen::Quaternion<double, 0> mrs_lib::Transformer::copyChangeFrame<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)0
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<cv::Point3_<double> > mrs_lib::Transformer::doTransform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transformImpl<cv::Point3_<double> >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, cv::Point3_<double> const&)1
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::Quaternion_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)1
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transformImpl<Eigen::Quaternion<double, 0> >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, Eigen::Quaternion<double, 0> const&)2
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)2
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)4
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)5
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)6
std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > mrs_lib::Transformer::transform<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)16
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Point_<std::allocator<void> > const&)16
std::optional<geometry_msgs::Vector3_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)18
std::optional<geometry_msgs::Vector3_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Vector3_<std::allocator<void> > const&)18
std::optional<mrs_msgs::ReferenceStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)2393
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&)2393
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)2393
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&)6817
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)6817
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&)23120
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&)26814
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&)45731
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)45731
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&)143474
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&)150292
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&)150292
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&)150293
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)157110
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&)204854
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&)204857
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&)208147
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&)246736
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&)246758
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)246761
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&)246798
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&)246801
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)250586
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&)253877
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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..7b6c04b04c --- /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:2023-12-06 10:06:33Functions:394881.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)208147
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&)143474
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&)246801
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&)253877
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&)150292
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&)246798
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&)45731
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&)6817
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&)204857
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&)204854
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&)150293
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&)150292
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&)246758
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&)246736
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&)2393
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&)2393
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)250586
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)157110
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)246761
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)2393
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)45731
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)6817
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&)23120
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)4
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)2
std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > mrs_lib::Transformer::transform<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<mrs_msgs::ReferenceStamped_<std::allocator<void> > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)26814
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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.gcov.frameset.html b/mrs_lib/include/mrs_lib/impl/transformer.hpp.gcov.frameset.html new file mode 100644 index 0000000000..493a6837a5 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/transformer.hpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/transformer.hpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/impl/transformer.hpp.gcov.html b/mrs_lib/include/mrs_lib/impl/transformer.hpp.gcov.html new file mode 100644 index 0000000000..51706f5118 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/transformer.hpp.gcov.html @@ -0,0 +1,280 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/transformer.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - transformer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:556485.9 %
Date:2023-12-06 10:06:33Functions:394881.2 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
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+       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      656850 :   std_msgs::Header Transformer::getHeader(const msg_t& msg)
+      15             :   {
+      16      656850 :     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       52548 :   void Transformer::setHeader(msg_t& msg, const std_msgs::Header& header)
+      33             :   {
+      34       52548 :     msg.header = header;
+      35       52548 :   }
+      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       52548 :   T Transformer::copyChangeFrame(const T& what, const std::string& frame_id)
+      49             :   {
+      50       52548 :     T ret = what;
+      51             :     if constexpr (has_header_member_v<T>)
+      52             :     {
+      53      105096 :       std_msgs::Header new_header = getHeader(what);
+      54       52548 :       new_header.frame_id = frame_id;
+      55       52548 :       setHeader(ret, new_header);
+      56             :     }
+      57       52548 :     return ret;
+      58             :   }
+      59             : 
+      60             :   //}
+      61             : 
+      62             :   /* transformImpl() //{ */
+      63             : 
+      64             :   template <class T>
+      65      651010 :   std::optional<T> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const T& what)
+      66             :   {
+      67     1302010 :     const std::string from_frame = frame_from(tf);
+      68     1302014 :     const std::string to_frame = frame_to(tf);
+      69             : 
+      70      651009 :     if (from_frame == to_frame)
+      71       52548 :       return copyChangeFrame(what, from_frame);
+      72             : 
+      73     1196922 :     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      351638 :       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      351636 :       else if (to_frame == latlon_frame_name)
+      89             :       {
+      90         964 :         const std::optional<T> tmp = doTransform(what, tf);
+      91         483 :         if (!tmp.has_value())
+      92           0 :           return std::nullopt;
+      93         483 :         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      246828 :       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      597977 :     return doTransform(what, tf);
+     108             :   }
+     109             : 
+     110             :   //}
+     111             : 
+     112             :   /* doTransform() //{ */
+     113             : 
+     114             :   template <class T>
+     115      598463 :   std::optional<T> Transformer::doTransform(const T& what, const geometry_msgs::TransformStamped& tf)
+     116             :   {
+     117             :     try
+     118             :     {
+     119     1196844 :       T result;
+     120      598457 :       tf2::doTransform(what, result, tf);
+     121      598455 :       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      604275 :   std::optional<T> Transformer::transformSingle(const T& what, const std::string& to_frame_raw)
+     139             :   {
+     140     1208621 :     const std_msgs::Header orig_header = getHeader(what);
+     141     1208609 :     return transformSingle(orig_header.frame_id, what, to_frame_raw, orig_header.stamp);
+     142             :   }
+     143             : 
+     144             :   template <class T>
+     145      604302 :   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     1208653 :     std::scoped_lock lck(mutex_);
+     148             : 
+     149      604362 :     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     1208713 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     156     1208709 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     157     1208687 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     158             : 
+     159             :     // get the transform
+     160     1208710 :     const auto tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+     161      604364 :     if (!tf_opt.has_value())
+     162        3326 :       return std::nullopt;
+     163      601029 :     const geometry_msgs::TransformStamped& tf = tf_opt.value();
+     164             : 
+     165             :     // do the transformation
+     166     1202050 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     167      601036 :     return transformImpl(tf_resolved, what);
+     168             :   }
+     169             : 
+     170             :   //}
+     171             : 
+     172             :   /* transform() //{ */
+     173             : 
+     174             :   template <class T>
+     175       49952 :   std::optional<T> Transformer::transform(const T& what, const geometry_msgs::TransformStamped& tf)
+     176             :   {
+     177       99904 :     std::scoped_lock lck(mutex_);
+     178             : 
+     179       49952 :     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       99904 :     const std::string from_frame = resolveFrameImpl(frame_from(tf));
+     186       99904 :     const std::string to_frame = resolveFrameImpl(frame_to(tf));
+     187       99904 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     188             : 
+     189       49952 :     return transformImpl(tf_resolved, what);
+     190             :   }
+     191             : 
+     192             :   /* //} */
+     193             : 
+     194             : }
+     195             : 
+     196             : #endif // TRANSFORMER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/transformer.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/transformer.hpp.gcov.overview.html new file mode 100644 index 0000000000..d41ec041c1 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/transformer.hpp.gcov.overview.html @@ -0,0 +1,69 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/transformer.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 + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/impl/transformer.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/transformer.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..69b889343341273e8bef5883143f2c7f010d788c GIT binary patch literal 841 zcmV-P1GfB$P)0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp5jOU|8 zm6*pKyIQ-hGyRjermXd?hXi>IwazyX3(i%hbuwvthBHOeonQ2N;&1Z0*vxv0FKkHf z5%(@%6Jkt)iC(8wK&8|RuaH^81_j-XL`XACb!)TCz-MUT0~8(uc7t z2&n1{l;yC$h944rBoyxje$Moz+gZ{cokX_i%-BB`h36LxRx~S?roGZWJS3vIIHF)1 z;7`%>dPNxQgNyBy<2XKtldUJgbY5^<-q4+?v7Bz=7KW} z;*t-ooK%pwg$jQ$H)ZJWbR!k~TIMUtUBXOE1poPh4x|Y981eCdGs5VjC|%HGuPM#B z({Ba7s{?qf0l3`(I5wIz%!wm8KJ<<>p6JG=b(RUHOAOQjOc9A4=~?sk1Id2u&9b*` z&GDAvhTuK`|4BFdc`5Ky*uML$5od*&GsiDE7edP;^WyApF2CD*Fkx>u>_x&}Y1jc3 zdH`E0)@E^$;F|us;lbnV7enyq;Ot6A?3{@zMRM)Im12h+hpXLJgEtBQRl4Uw5ESsn zxv)@cow+Ji%Ul_k*r5xjIAiKl9(osJPMT@V#Nk?#TC*Zu!75C{Vnn*v61_YmEFlW9 z|ICIPmBKc?`l{aSxz_A%H7i@Q|JCfDs%F#VqOZ*FW#NO_;^c)s6VB%2|26#qR3G;^ To_s9e00000NkvXXu0mjfg!h-E literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/impl/ukf.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/ukf.hpp.func-sort-c.html new file mode 100644 index 0000000000..3ad8773c87 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/ukf.hpp.func-sort-c.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/ukf.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - ukf.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7710474.0 %
Date:2023-12-06 10:06:33Functions: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>::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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Generated by: LCOV version 1.14
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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..ecfa4eb443 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - ukf.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7710474.0 %
Date:2023-12-06 10:06:33Functions: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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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:2023-12-06 10:06:33Functions:81266.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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.png b/mrs_lib/include/mrs_lib/impl/ukf.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..1d33d5b3039a981579bb4f50a9c00a2c8709ad9b GIT binary patch literal 1198 zcmV;f1X25mP)Y@{;Pb0B(89X1lp$WlRn3FWZf6Cw_WVJ+}+ydtQ`=_ zd4PPgbS9hXQz+oPx)ki&7 z-lQE#rEk)z9uGELd87|74GK~T#|W?+u3XZe6t2^vl^w1d^jri}M|c;c3rf)C56QZq zP>s|XTiZ;bsJ#Vv-hdqz_$BTdbHN)i=DQZ)l5v>`+*`m1a!FMX_`s(SmpO- zp$vyfR|C*SHhH6}0WwL`B(6KO!^))|7!eAY$hGhdq-(Utn_=63OFES_bj!U50C8YR z|N7J=_cr$>VLl@P%-P){#tAJ~{L6R_w;t2FXAF>2UxyPws4?ZRe#OISm*?A}%rGNq zZ^^7Vo9;iJkq`B_Y=@kl0KzY}Aw>xP^-|D;VL_|NIq#{C2ogQcHsOZP_(abshj)TrRs^3 zRDJ%qOg&hws;@$&LlQi$D@$mg=^NrpvL6ojS`Pb^=MJ& zI<$0_Mxku)5@`mY@u80@ds!ioK4>QJ-s>hI8lqjf%z4bxSXJQzPkg@O>F7ldYVaim ze6B)6>E3j9;8EqM3Hx9J`$AVSoejBw%?C7ptCNz#zfL;|HFrYu4`1RPbHQ`N;s5{u M07*qoM6N<$f)tiG*8l(j literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/index-detail-sort-f.html b/mrs_lib/include/mrs_lib/index-detail-sort-f.html new file mode 100644 index 0000000000..0996ddce71 --- /dev/null +++ b/mrs_lib/include/mrs_lib/index-detail-sort-f.html @@ -0,0 +1,426 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:73195976.2 %
Date:2023-12-06 10:06:33Functions:741125958.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
ukf.h +
0.0%
+ 		0.0 %0 / 40.0 %0 / 2
msg_extractor.h +
23.2%23.2%
+ 		23.2 %23 / 9922.7 %10 / 44
<unnamed>23.2 %23 / 9922.7 %10 / 44
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
<unnamed>65.5 %57 / 8732.9 %28 / 85
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
<unnamed>33.3 %2 / 633.3 %1 / 3
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11135.7 %20 / 56
<unnamed>90.1 %100 / 11135.7 %20 / 56
subscribe_handler.h +
79.6%79.6%
+ 		79.6 %39 / 4950.5 %352 / 697
<unnamed>79.6 %39 / 4950.5 %352 / 697
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5461.0 %25 / 41
<unnamed>81.5 %44 / 5461.0 %25 / 41
attitude_converter.h +
79.3%79.3%
+ 		79.3 %23 / 2975.0 %9 / 12
<unnamed>79.3 %23 / 2975.0 %9 / 12
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
<unnamed>85.0 %51 / 6077.8 %14 / 18
mutex.h +
100.0%
+ 		100.0 %11 / 1181.5 %66 / 81
<unnamed>100.0 %11 / 1181.5 %66 / 81
timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
<unnamed>100.0 %4 / 485.7 %6 / 7
param_loader.h +
87.6%87.6%
+ 		87.6 %241 / 27597.0 %64 / 66
<unnamed>87.6 %241 / 27597.0 %64 / 66
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.1 %112 / 113
<unnamed>100.0 %4 / 499.1 %112 / 113
timeout_manager.h +
66.7%66.7%
+ 		66.7 %4 / 6-0 / 0
<unnamed>66.7 %4 / 6-0 / 0
visual_object.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
<unnamed>100.0 %2 / 2100.0 %1 / 1
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
<unnamed>100.0 %4 / 4100.0 %2 / 2
gps_conversions.h +
76.5%76.5%
+ 		76.5 %104 / 136100.0 %4 / 4
<unnamed>76.5 %104 / 136100.0 %4 / 4
utils.h +
100.0%
+ 		100.0 %15 / 15100.0 %5 / 5
<unnamed>100.0 %15 / 15100.0 %5 / 5
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %22 / 22
<unnamed>100.0 %3 / 3100.0 %22 / 22
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/index-detail-sort-l.html b/mrs_lib/include/mrs_lib/index-detail-sort-l.html new file mode 100644 index 0000000000..e292e7815e --- /dev/null +++ b/mrs_lib/include/mrs_lib/index-detail-sort-l.html @@ -0,0 +1,426 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:73195976.2 %
Date:2023-12-06 10:06:33Functions:741125958.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
ukf.h +
0.0%
+ 		0.0 %0 / 40.0 %0 / 2
msg_extractor.h +
23.2%23.2%
+ 		23.2 %23 / 9922.7 %10 / 44
<unnamed>23.2 %23 / 9922.7 %10 / 44
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
<unnamed>33.3 %2 / 633.3 %1 / 3
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
<unnamed>65.5 %57 / 8732.9 %28 / 85
timeout_manager.h +
66.7%66.7%
+ 		66.7 %4 / 6-0 / 0
<unnamed>66.7 %4 / 6-0 / 0
gps_conversions.h +
76.5%76.5%
+ 		76.5 %104 / 136100.0 %4 / 4
<unnamed>76.5 %104 / 136100.0 %4 / 4
attitude_converter.h +
79.3%79.3%
+ 		79.3 %23 / 2975.0 %9 / 12
<unnamed>79.3 %23 / 2975.0 %9 / 12
subscribe_handler.h +
79.6%79.6%
+ 		79.6 %39 / 4950.5 %352 / 697
<unnamed>79.6 %39 / 4950.5 %352 / 697
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5461.0 %25 / 41
<unnamed>81.5 %44 / 5461.0 %25 / 41
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
<unnamed>85.0 %51 / 6077.8 %14 / 18
param_loader.h +
87.6%87.6%
+ 		87.6 %241 / 27597.0 %64 / 66
<unnamed>87.6 %241 / 27597.0 %64 / 66
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11135.7 %20 / 56
<unnamed>90.1 %100 / 11135.7 %20 / 56
visual_object.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
<unnamed>100.0 %2 / 2100.0 %1 / 1
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %22 / 22
<unnamed>100.0 %3 / 3100.0 %22 / 22
timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
<unnamed>100.0 %4 / 485.7 %6 / 7
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
<unnamed>100.0 %4 / 4100.0 %2 / 2
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.1 %112 / 113
<unnamed>100.0 %4 / 499.1 %112 / 113
mutex.h +
100.0%
+ 		100.0 %11 / 1181.5 %66 / 81
<unnamed>100.0 %11 / 1181.5 %66 / 81
utils.h +
100.0%
+ 		100.0 %15 / 15100.0 %5 / 5
<unnamed>100.0 %15 / 15100.0 %5 / 5
+
+
+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:73195976.2 %
Date:2023-12-06 10:06:33Functions:741125958.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
attitude_converter.h +
79.3%79.3%
+ 		79.3 %23 / 2975.0 %9 / 12
<unnamed>79.3 %23 / 2975.0 %9 / 12
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
<unnamed>65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
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+ 		76.5 %104 / 136100.0 %4 / 4
<unnamed>76.5 %104 / 136100.0 %4 / 4
lkf.h +
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+ 		81.5 %44 / 5461.0 %25 / 41
<unnamed>81.5 %44 / 5461.0 %25 / 41
msg_extractor.h +
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<unnamed>23.2 %23 / 9922.7 %10 / 44
mutex.h +
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<unnamed>100.0 %11 / 1181.5 %66 / 81
param_loader.h +
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+ 		87.6 %241 / 27597.0 %64 / 66
<unnamed>87.6 %241 / 27597.0 %64 / 66
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.1 %112 / 113
<unnamed>100.0 %4 / 499.1 %112 / 113
quadratic_throttle_model.h +
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<unnamed>100.0 %4 / 4100.0 %2 / 2
repredictor.h +
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<unnamed>90.1 %100 / 11135.7 %20 / 56
scope_timer.h +
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service_client_handler.h +
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subscribe_handler.h +
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+ 		79.6 %39 / 4950.5 %352 / 697
<unnamed>79.6 %39 / 4950.5 %352 / 697
timeout_manager.h +
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+ 		66.7 %4 / 6-0 / 0
<unnamed>66.7 %4 / 6-0 / 0
timer.h +
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+ 		100.0 %4 / 485.7 %6 / 7
<unnamed>100.0 %4 / 485.7 %6 / 7
transformer.h +
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+ 		85.0 %51 / 6077.8 %14 / 18
<unnamed>85.0 %51 / 6077.8 %14 / 18
ukf.h +
0.0%
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utils.h +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:73195976.2 %
Date:2023-12-06 10:06:33Functions:741125958.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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ukf.h +
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msg_extractor.h +
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+ 		23.2 %23 / 9922.7 %10 / 44
dynamic_reconfigure_mgr.h +
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+ 		65.5 %57 / 8732.9 %28 / 85
scope_timer.h +
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+ 		33.3 %2 / 633.3 %1 / 3
repredictor.h +
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subscribe_handler.h +
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lkf.h +
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attitude_converter.h +
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transformer.h +
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+ 		85.0 %51 / 6077.8 %14 / 18
mutex.h +
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+ 		100.0 %11 / 1181.5 %66 / 81
timer.h +
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param_loader.h +
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+ 		87.6 %241 / 27597.0 %64 / 66
publisher_handler.h +
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utils.h +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:73195976.2 %
Date:2023-12-06 10:06:33Functions:741125958.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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ukf.h +
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msg_extractor.h +
23.2%23.2%
+ 		23.2 %23 / 9922.7 %10 / 44
scope_timer.h +
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+ 		33.3 %2 / 633.3 %1 / 3
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
timeout_manager.h +
66.7%66.7%
+ 		66.7 %4 / 6-0 / 0
gps_conversions.h +
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+ 		76.5 %104 / 136100.0 %4 / 4
attitude_converter.h +
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+ 		79.3 %23 / 2975.0 %9 / 12
subscribe_handler.h +
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+ 		79.6 %39 / 4950.5 %352 / 697
lkf.h +
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+ 		81.5 %44 / 5461.0 %25 / 41
transformer.h +
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+ 		85.0 %51 / 6077.8 %14 / 18
param_loader.h +
87.6%87.6%
+ 		87.6 %241 / 27597.0 %64 / 66
repredictor.h +
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+ 		90.1 %100 / 11135.7 %20 / 56
visual_object.h +
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+ 		100.0 %2 / 2100.0 %1 / 1
service_client_handler.h +
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timer.h +
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quadratic_throttle_model.h +
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publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.1 %112 / 113
mutex.h +
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+ 		100.0 %11 / 1181.5 %66 / 81
utils.h +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:73195976.2 %
Date:2023-12-06 10:06:33Functions:741125958.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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attitude_converter.h +
79.3%79.3%
+ 		79.3 %23 / 2975.0 %9 / 12
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
76.5%76.5%
+ 		76.5 %104 / 136100.0 %4 / 4
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5461.0 %25 / 41
msg_extractor.h +
23.2%23.2%
+ 		23.2 %23 / 9922.7 %10 / 44
mutex.h +
100.0%
+ 		100.0 %11 / 1181.5 %66 / 81
param_loader.h +
87.6%87.6%
+ 		87.6 %241 / 27597.0 %64 / 66
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.1 %112 / 113
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11135.7 %20 / 56
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %22 / 22
subscribe_handler.h +
79.6%79.6%
+ 		79.6 %39 / 4950.5 %352 / 697
timeout_manager.h +
66.7%66.7%
+ 		66.7 %4 / 6-0 / 0
timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
ukf.h +
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utils.h +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - lkf.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2023-12-06 10:06:33Functions:254161.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::LKF<2, 1, 1>::LKF(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)0
std::enable_if<(1)!=(0), Eigen::Matrix<double, 4, 1, 0, 4, 1> >::type mrs_lib::LKF<4, 1, 2>::state_predict<1>(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)0
mrs_lib::LKF<4, 1, 2>::covariance_predict(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double)0
mrs_lib::LKF<4, 1, 2>::correction_optimized(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&)0
mrs_lib::LKF<4, 1, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)0
mrs_lib::LKF<4, 1, 2>::LKF(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&)0
mrs_lib::LKF<4, 1, 2>::LKF()0
mrs_lib::LKF<2, 1, 1>::inverse_exception::what() const0
mrs_lib::LKF<2, 1, 1>::predict(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, double) const0
mrs_lib::LKF<3, 1, 1>::inverse_exception::what() const0
std::enable_if<(4)>=(0), mrs_lib::KalmanFilter<4, 1, 2>::statecov_t>::type mrs_lib::LKF<4, 1, 2>::correction_impl<4>(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&) const0
mrs_lib::LKF<4, 1, 2>::computeKalmanGain(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&) const0
mrs_lib::LKF<4, 1, 2>::inverse_exception::what() const0
mrs_lib::LKF<4, 1, 2>::correct(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const0
mrs_lib::LKF<4, 1, 2>::predict(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double) const0
mrs_lib::LKF<6, 2, 2>::inverse_exception::what() const0
mrs_lib::varstepLKF<2, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 2, 2, 0, 2, 2> (double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (double)> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)3
mrs_lib::LKF<2, 1, 1>::LKF()3
mrs_lib::LKF<6, 2, 2>::LKF(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 2, 0, 6, 2> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&)44
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&)84
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&)15501
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)15501
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) const15501
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&)49661
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)49661
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) const49661
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&)91791
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) const91863
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)91869
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)119248
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&) const119248
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&) const119248
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&) const119248
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)332118
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&) const332530
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&) const332566
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&) const332582
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Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2023-12-06 10:06:33Functions:254161.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::varstepLKF<2, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 2, 2, 0, 2, 2> (double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (double)> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)3
std::enable_if<(1)!=(0), Eigen::Matrix<double, 2, 1, 0, 2, 1> >::type mrs_lib::LKF<2, 1, 1>::state_predict<1>(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)15501
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)15501
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&)91791
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)91869
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)332118
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&)84
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&)49661
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)49661
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)119248
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&)44
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) const15501
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&) const332582
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&) const332566
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&) const332530
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) const91863
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&) const119248
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&) const119248
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&) const119248
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) const49661
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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 - lkf.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2023-12-06 10:06:33Functions:254161.0 %
Legend: Lines: + hit + not hit +
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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         128 :     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      457606 :     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      457606 :       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      141524 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, [[maybe_unused]] double dt) const override
+     139             :     {
+     140      141524 :       statecov_t ret;
+     141      141310 :       ret.x = state_predict(A, sc.x, B, u);
+     142      141305 :       ret.P = covariance_predict(A, sc.P, Q, dt);
+     143      141242 :       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      157031 :     static P_t covariance_predict(const A_t& A, const P_t& P, const Q_t& Q, const double dt)
+     155             :     {
+     156      157031 :       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      156953 :     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      156953 :       return A * x + B * u;
+     172             :     }
+     173             :     //}
+     174             : 
+     175             :   protected:
+     176             :     /* invert_W() method //{ */
+     177      457194 :     static R_t invert_W(R_t W)
+     178             :     {
+     179      457194 :       Eigen::ColPivHouseholderQR<R_t> qr(W);
+     180      457494 :       if (!qr.isInvertible())
+     181             :       {
+     182             :         // add some stuff to the tmp matrix diagonal to make it invertible
+     183       72647 :         R_t ident = R_t::Identity(W.rows(), W.cols());
+     184       72647 :         W += 1e-9 * ident;
+     185       72647 :         qr.compute(W);
+     186       72647 :         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      456118 :       const R_t W_inv = qr.inverse();
+     193      915006 :       return W_inv;
+     194             :     }
+     195             :     //}
+     196             : 
+     197             :     /* computeKalmanGain() method //{ */
+     198      457642 :     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      457642 :       const R_t W = H * sc.P * H.transpose() + R;
+     202      457207 :       const R_t W_inv = invert_W(W);
+     203      457530 :       const K_t K = sc.P * H.transpose() * W_inv;
+     204      914856 :       return K;
+     205             :     }
+     206             :     //}
+     207             : 
+     208             :     /* correction_impl() method //{ */
+     209             :     template<int check=n>
+     210      457658 :     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      457658 :       statecov_t ret;
+     214      457506 :       const K_t K = computeKalmanGain(sc, z, R, H);
+     215      457175 :       ret.x = sc.x + K * (z - (H * sc.x));
+     216      457200 :       ret.P = (P_t::Identity() - (K * H)) * sc.P;
+     217      914638 :       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       15501 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override
+     317             :     {
+     318       15501 :       statecov_t ret;
+     319       15501 :       A_t A = m_generateA(dt);
+     320       15501 :       B_t B = m_generateB(dt);
+     321       15501 :       ret.x = Base_class::state_predict(A, sc.x, B, u);
+     322       15501 :       ret.P = Base_class::covariance_predict(A, sc.P, Q, dt);
+     323       31002 :       return ret;
+     324             :     };
+     325             :     //}
+     326             :     
+     327             :   private:
+     328             :     generateA_t m_generateA;
+     329             :     generateB_t m_generateB;
+     330             :   };
+     331             :   //}
+     332             : 
+     333             :   /* class LKF_MRS_odom //{ */
+     334             :   class LKF_MRS_odom : public LKF<3, 1, 1>
+     335             :   {
+     336             :   public:
+     337             :     /* LKF definitions (typedefs, constants etc) //{ */
+     338             :     static const int n = 3;
+     339             :     static const int m = 1;
+     340             :     static const int p = 1;
+     341             :     using Base_class = LKF<n, m, p>;
+     342             : 
+     343             :     using x_t = typename Base_class::x_t;
+     344             :     using u_t = typename Base_class::u_t;
+     345             :     using z_t = typename Base_class::z_t;
+     346             :     using P_t = typename Base_class::P_t;
+     347             :     using R_t = typename Base_class::R_t;
+     348             :     using statecov_t = typename Base_class::statecov_t;
+     349             :     using A_t = typename Base_class::A_t;  // measurement mapping p*n
+     350             :     using B_t = typename Base_class::B_t;  // process covariance n*n
+     351             :     using H_t = typename Base_class::H_t;  // measurement mapping p*n
+     352             :     using Q_t = typename Base_class::Q_t;  // process covariance n*n
+     353             : 
+     354             :     using coeff_A_t = A_t;                            // matrix of constant coefficients in matrix A
+     355             :     typedef Eigen::Matrix<unsigned, n, n> dtexp_A_t;  // matrix of dt exponents in matrix A
+     356             :     using coeff_B_t = B_t;                            // matrix of constant coefficients in matrix B
+     357             :     typedef Eigen::Matrix<unsigned, n, m> dtexp_B_t;  // matrix of dt exponents in matrix B
+     358             :     //}
+     359             : 
+     360             :   public:
+     361             :     LKF_MRS_odom(const std::vector<H_t>& Hs, const double default_dt = 1);
+     362             :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override;
+     363             :     virtual statecov_t correct(const statecov_t& sc, const z_t& z, const R_t& R, int param = 0) const;
+     364             : 
+     365             :   public:
+     366             :     x_t state_predict_optimized(const x_t& x_prev, const u_t& u, double dt) const;
+     367             :     P_t covariance_predict_optimized(const P_t& P, const Q_t& Q, double dt) const;
+     368             : 
+     369             :   private:
+     370             :     std::vector<H_t> m_Hs;
+     371             :   };
+     372             :   //}
+     373             : 
+     374             : }  // namespace mrs_lib
+     375             : 
+     376             : #endif // LKFSYSTEMMODELS_H
+
+
+
+ + + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/lkf.h.gcov.png b/mrs_lib/include/mrs_lib/lkf.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..05cf672e576224906233fe48ec21708336bc253d GIT binary patch literal 1750 zcmV;{1}XW8P)=6legnx+l_P+MYm!lPS#C}Nxki0KGD^nk)CSbq7WG>_kok@cd06$*#L+i(P!undeF?0}4}V4Hzz zJ18#dU<`x^)|f2w8ts?S9mr(jg5_EX9Z{SlgrGC5OBg5+90x}FcnhS}ATGu}PHqq0 z9H`2W#l_^TZjekUtj_|*&rwA46m~SJJrxlejK}O~=|G+dGlAqyJ)i_=7cgR#(qj#A z&?)?>Um0-Rk%*Z-AQ7e`$lN9OwM zTGJTxEY2F*Hs#m~I6zSda%m~6O3Ec=ZNh8dDk12SpWFt&TyD#_bjQ?(5OCOzf!Fg6 zaEKz_$_m4n*8>6ozou&4L(U}oE&9`_ra*gT@5P^rtTT^ za5S4Hav>kMm71um62Iq!CF?`;j5Hv@(%H=RnARB`3aTZC$vTCR3#iDm%|#WcT@>|@ z1cYhJIvOoA%@H?C&a}AJ&0MbOdR_iPmjyU`-E87XqX9T;Tht6V`XiD)up9L zlUN&uisw$!vkHf`hDf4>qHY$dB4f}JJ@E1h%s+5q$LZu|3K$ELk*po}=Z?n5LJCHT z{FDPY&k|8`P^mn#22x7h(w89Blk}rOYLm&@NRY1s`fNQ@q*{$g%KSclB zEhEPszc#6*cbwCle+1z)4_7m@34Gbru0m4{Y23qOa3$`68(+$rHZPJG-HdF#6S21_XQZI(&$ z;z*Fzhrm{Y{EZ8B~yZ~tVV^X0VsN{DI9_ks3Bh1L@r;A&0c5MZFi z9b+?hSzsH*z`iOY=JD>3_+alU0C@XkS1XFk;woBKuY!#Dm~O~}iKYj(njK+Gwb8vG zVcUEgXZ4CrgZCj|8(Z3E?7f>d#rg{@zZA&ku?IREe1&3h{s}!Ghr%~fbPtKbs|w^V zfS=p&byNKGVZ8X6ZZ((ZG#wzYXUIWLBE5eUKX@3g?Ud~3t$xiLLz~{Z(!?Ivyqb6R z!Y(5R5H8f^=Uy22fB3mF&$k|a23>_ebNE>bG5wYkNVA)960qDBzEw{)>%hv%=C3)^ zbk4Q}_udm;;8(N&y@;zjBC?jNz%QxnyE{#%1OHd{9Uz@jm~LC&HiEihOx@MQ$}24z-zRls#8bC&;+v)$A(vKiojj3b#V sYQfaRxmlm>Jiz7HX$@zTer%uSA5hR)7d&;<(*OVf07*qoM6N<$f>Mk-2LJ#7 literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.func-sort-c.html b/mrs_lib/include/mrs_lib/msg_extractor.h.func-sort-c.html new file mode 100644 index 0000000000..1e418a696e --- /dev/null +++ b/mrs_lib/include/mrs_lib/msg_extractor.h.func-sort-c.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/msg_extractor.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib - msg_extractor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:239923.2 %
Date:2023-12-06 10:06:33Functions:104422.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::getHeading(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::Reference_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::TwistWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::Twist_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::Reference_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)0
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_lib::getVelocity(geometry_msgs::TwistWithCovariance_<std::allocator<void> > const&)0
mrs_lib::getVelocity(geometry_msgs::Twist_<std::allocator<void> > const&)0
mrs_lib::getVelocity(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getVelocity(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getVelocity(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getVelocity(nav_msgs::Odometry_<std::allocator<void> > const&)0
mrs_lib::getXYZ(geometry_msgs::Vector3_<std::allocator<void> > const&)0
mrs_lib::getXYZ(boost::shared_ptr<geometry_msgs::Point_<std::allocator<void> > const> const&)0
mrs_lib::getXYZ(boost::shared_ptr<geometry_msgs::Vector3_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)0
mrs_lib::getYaw(geometry_msgs::Pose_<std::allocator<void> > const&)0
mrs_lib::getYaw(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(nav_msgs::Odometry_<std::allocator<void> > const&)0
mrs_lib::getPose(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getPose(nav_msgs::Odometry_<std::allocator<void> > const&)439
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)71325
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)71326
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)71326
mrs_lib::getHeading(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)71326
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)71326
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)71326
mrs_lib::getPosition(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)71326
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)71326
mrs_lib::getXYZ(geometry_msgs::Point_<std::allocator<void> > const&)71326
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.func.html b/mrs_lib/include/mrs_lib/msg_extractor.h.func.html new file mode 100644 index 0000000000..bb521dcd27 --- /dev/null +++ b/mrs_lib/include/mrs_lib/msg_extractor.h.func.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/msg_extractor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - msg_extractor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:239923.2 %
Date:2023-12-06 10:06:33Functions:104422.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)71326
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)71326
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&)71326
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)71326
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)71326
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)71325
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&)71326
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)0
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)71326
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&)71326
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&)439
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.frameset.html new file mode 100644 index 0000000000..3c229c2d36 --- /dev/null +++ b/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/msg_extractor.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.html b/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.html new file mode 100644 index 0000000000..bf9dbd4a6f --- /dev/null +++ b/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.html @@ -0,0 +1,775 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/msg_extractor.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - msg_extractor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:239923.2 %
Date:2023-12-06 10:06:33Functions:104422.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : /**  \file
+       3             :  *   \brief utility functions for getting stuff from ROS msgs
+       4             :  *   \author Tomas Baca - tomas.baca@fel.cvut.cz
+       5             :  */
+       6             : #ifndef MRS_LIB_MSG_EXTRACTOR_H
+       7             : #define MRS_LIB_MSG_EXTRACTOR_H
+       8             : 
+       9             : #include <mrs_msgs/TrackerCommand.h>
+      10             : #include <mrs_msgs/Reference.h>
+      11             : #include <mrs_msgs/ReferenceStamped.h>
+      12             : 
+      13             : #include <nav_msgs/Odometry.h>
+      14             : 
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : 
+      17             : namespace mrs_lib
+      18             : {
+      19             : 
+      20             : /* geometry_msgs::Point //{ */
+      21             : 
+      22             : /**
+      23             :  * @brief get XYZ from geometry_msgs::Point
+      24             :  *
+      25             :  * @param data point
+      26             :  *
+      27             :  * @return x, y, z
+      28             :  */
+      29       71326 : std::tuple<double, double, double> getXYZ(const geometry_msgs::Point& data) {
+      30             : 
+      31       71326 :   double x = data.x;
+      32       71326 :   double y = data.y;
+      33       71326 :   double z = data.z;
+      34             : 
+      35      142650 :   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       71325 : std::tuple<double, double, double> getPosition(const geometry_msgs::Pose& data) {
+      96             : 
+      97       71325 :   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       71326 : double getHeading(const geometry_msgs::Pose& data) {
+     124             : 
+     125       71326 :   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       71326 : std::tuple<double, double, double> getPosition(const geometry_msgs::PoseWithCovariance& data) {
+     184             : 
+     185       71326 :   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       71326 : double getHeading(const geometry_msgs::PoseWithCovariance& data) {
+     212             : 
+     213       71326 :   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       71326 : std::tuple<double, double, double> getPosition(const nav_msgs::Odometry& data) {
+     336             : 
+     337       71326 :   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       71326 : std::tuple<double, double, double> getPosition(const nav_msgs::OdometryConstPtr& data) {
+     348             : 
+     349       71326 :   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       71326 : double getHeading(const nav_msgs::Odometry& data) {
+     392             : 
+     393       71326 :   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       71326 : double getHeading(const nav_msgs::OdometryConstPtr& data) {
+     404             : 
+     405       71326 :   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         439 : geometry_msgs::Pose getPose(const nav_msgs::Odometry& data) {
+     448             : 
+     449         439 :   return data.pose.pose;
+     450             : }
+     451             : 
+     452             : /**
+     453             :  * @brief returns the Pose part of the nav_msgs::OdometryConstPtr message
+     454             :  *
+     455             :  * @param data odometry (ConstPtr)
+     456             :  *
+     457             :  * @return pose
+     458             :  */
+     459           0 : geometry_msgs::Pose getPose(const nav_msgs::OdometryConstPtr& data) {
+     460             : 
+     461           0 :   return getPose(*data);
+     462             : }
+     463             : 
+     464             : //}
+     465             : 
+     466             : //}
+     467             : 
+     468             : /* mrs_msgs::TrackerCommand //{ */
+     469             : 
+     470             : /* getPosition() //{ */
+     471             : 
+     472             : /**
+     473             :  * @brief get position data from mrs_msgs::TrackerCommand
+     474             :  *
+     475             :  * @param data position command
+     476             :  *
+     477             :  * @return x, y, z
+     478             :  */
+     479           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::TrackerCommand& data) {
+     480             : 
+     481           0 :   return getXYZ(data.position);
+     482             : }
+     483             : 
+     484             : /**
+     485             :  * @brief get position data from mrs_msgs::TrackerCommandConstPtr
+     486             :  *
+     487             :  * @param data position command (ConstPtr)
+     488             :  *
+     489             :  * @return x, y, z
+     490             :  */
+     491           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::TrackerCommandConstPtr& data) {
+     492             : 
+     493           0 :   return getPosition(*data);
+     494             : }
+     495             : 
+     496             : //}
+     497             : 
+     498             : /* getVelocity() //{ */
+     499             : 
+     500             : /**
+     501             :  * @brief get velocity data from mrs_msgs::TrackerCommand
+     502             :  *
+     503             :  * @param data position command
+     504             :  *
+     505             :  * @return x, y, z
+     506             :  */
+     507           0 : std::tuple<double, double, double> getVelocity(const mrs_msgs::TrackerCommand& data) {
+     508             : 
+     509           0 :   return getXYZ(data.velocity);
+     510             : }
+     511             : 
+     512             : /**
+     513             :  * @brief get velocity data from mrs_msgs::TrackerCommandConstPtr
+     514             :  *
+     515             :  * @param data position command (ConstPtr)
+     516             :  *
+     517             :  * @return x, y, z
+     518             :  */
+     519           0 : std::tuple<double, double, double> getVelocity(const mrs_msgs::TrackerCommandConstPtr& data) {
+     520             : 
+     521           0 :   return getVelocity(*data);
+     522             : }
+     523             : 
+     524             : //}
+     525             : 
+     526             : /* getHeading() //{ */
+     527             : 
+     528             : /**
+     529             :  * @brief get heading from mrs_msgs::TrackerCommand
+     530             :  *
+     531             :  * @param data position command
+     532             :  *
+     533             :  * @return heading
+     534             :  */
+     535           0 : double getHeading(const mrs_msgs::TrackerCommand& data) {
+     536             : 
+     537           0 :   double heading = 0;
+     538             : 
+     539           0 :   if (data.use_heading) {
+     540             : 
+     541           0 :     heading = data.heading;
+     542             : 
+     543           0 :   } else if (data.use_orientation) {
+     544             : 
+     545           0 :     heading = mrs_lib::AttitudeConverter(data.orientation).getHeading();
+     546             :   }
+     547             : 
+     548           0 :   return heading;
+     549             : }
+     550             : 
+     551             : /**
+     552             :  * @brief get heading from mrs_msgs::TrackerCommandConstPtr
+     553             :  *
+     554             :  * @param data position command (ConstPtr)
+     555             :  *
+     556             :  * @return heading
+     557             :  */
+     558           0 : double getHeading(const mrs_msgs::TrackerCommandConstPtr& data) {
+     559             : 
+     560           0 :   return getHeading(*data);
+     561             : }
+     562             : 
+     563             : //}
+     564             : 
+     565             : //}
+     566             : 
+     567             : /* mrs_msgs::Reference //{ */
+     568             : 
+     569             : /* getPosition() //{ */
+     570             : 
+     571             : /**
+     572             :  * @brief get position from mrs_msgs::Reference
+     573             :  *
+     574             :  * @param data reference
+     575             :  *
+     576             :  * @return x, y, z
+     577             :  */
+     578           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::Reference& data) {
+     579             : 
+     580           0 :   return getXYZ(data.position);
+     581             : }
+     582             : 
+     583             : /**
+     584             :  * @brief get position from mrs_msgs::ReferenceConstPtr
+     585             :  *
+     586             :  * @param data reference (ContrPtr)
+     587             :  *
+     588             :  * @return x, y, z
+     589             :  */
+     590           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceConstPtr& data) {
+     591             : 
+     592           0 :   return getPosition(*data);
+     593             : }
+     594             : 
+     595             : //}
+     596             : 
+     597             : /* getHeading() //{ */
+     598             : 
+     599             : /**
+     600             :  * @brief get heading from mrs_msgs::Reference
+     601             :  *
+     602             :  * @param data reference
+     603             :  *
+     604             :  * @return heading
+     605             :  */
+     606           0 : double getHeading(const mrs_msgs::Reference& data) {
+     607             : 
+     608           0 :   return data.heading;
+     609             : }
+     610             : 
+     611             : /**
+     612             :  * @brief get heading from mrs_msgs::ReferenceConstPtr
+     613             :  *
+     614             :  * @param data reference (ContrPtr)
+     615             :  *
+     616             :  * @return heading
+     617             :  */
+     618           0 : double getHeading(const mrs_msgs::ReferenceConstPtr& data) {
+     619             : 
+     620           0 :   return getHeading(*data);
+     621             : }
+     622             : 
+     623             : //}
+     624             : 
+     625             : //}
+     626             : 
+     627             : /* mrs_msgs::ReferenceStamped //{ */
+     628             : 
+     629             : /* getPosition() //{ */
+     630             : 
+     631             : /**
+     632             :  * @brief get position from mrs_msgs::ReferenceStamped
+     633             :  *
+     634             :  * @param data reference stamped
+     635             :  *
+     636             :  * @return x, y, z
+     637             :  */
+     638           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceStamped& data) {
+     639             : 
+     640           0 :   return getPosition(data.reference);
+     641             : }
+     642             : 
+     643             : /**
+     644             :  * @brief get position from mrs_msgs::ReferenceStampedConstPtr
+     645             :  *
+     646             :  * @param data reference stamped (ContrPtr)
+     647             :  *
+     648             :  * @return x, y, z
+     649             :  */
+     650           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceStampedConstPtr& data) {
+     651             : 
+     652           0 :   return getPosition(*data);
+     653             : }
+     654             : 
+     655             : //}
+     656             : 
+     657             : /* getHeading() //{ */
+     658             : 
+     659             : /**
+     660             :  * @brief get heading from mrs_msgs::ReferenceStamped
+     661             :  *
+     662             :  * @param data referencestamped
+     663             :  *
+     664             :  * @return heading
+     665             :  */
+     666           0 : double getHeading(const mrs_msgs::ReferenceStamped& data) {
+     667             : 
+     668           0 :   return getHeading(data.reference);
+     669             : }
+     670             : 
+     671             : /**
+     672             :  * @brief get heading from mrs_msgs::ReferenceStampedConstPtr
+     673             :  *
+     674             :  * @param data referencestamped (ContrPtr)
+     675             :  *
+     676             :  * @return heading
+     677             :  */
+     678           0 : double getHeading(const mrs_msgs::ReferenceStampedConstPtr& data) {
+     679             : 
+     680           0 :   return getHeading(*data);
+     681             : }
+     682             : 
+     683             : //}
+     684             : 
+     685             : //}
+     686             : 
+     687             : }  // namespace mrs_lib
+     688             : 
+     689             : //}
+     690             : 
+     691             : #endif  // MRS_LIB_MSG_EXTRACTOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.png b/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c967260975487de8223ac6d2a1cdfdd7ac5c9c17 GIT binary patch literal 1284 zcmV+f1^fDmP)o6G8|QDw%obIDPSgz2TC8I!)j9eb=wn zHK6s~;t9L#);4d*4YoTDm%r`ur_&tQ_LoohF6?F^db;-Q<8dv$=ZesdXzTY&fiA=9 z2=-A!M1B4EK1QNB`WX3L_HSyuFbtgOO@FUsjam*wY$w}xZ?jXsPTR>Xw&@+Q_m9~i z#J=r%?+NJP`aJBR{5+q-=kxV&82*|+q&0sl$YX`M-Z7|;@9Q3(gWJ*lE6ovYaq(!2 zNkTlfuu5c%$N8{P`I+ZwKG`%kFQhfE56C=$j^J-qN3?NFY8s+CZLtVsWIS5VCd8xX zI%LP=ay(6e@i?w9*E^waTrf3jv!QzXax={l+jI%qQ*$#IQQDp+)00iC z+5<%P$1!S8bAQ-Vo8oA5VQG7s3{MTQYEN>mEqoKX2KX!|?~${oX+1Z;_8=T1_PMsF zD9tI3G#3`Or)iv@UwaUak$aj3-*?^9Y#No5i2EhMjvU+k)e;q?Ivdk64#uM4c7G9VRuNc zEsofxQ)y57`PzKJ5h)&FM-ke?{%SR5?YSm5tFKl|gQ)H0#fzG}+>CL|xE(_f%bKs< z14o8Frg$Xp5VrXL#-l8*0mmZrQCx0jh7k3!!J?Kv^|j9!?U5Ic@av5f6f)P2yj~{P u8s9ZHW3sO8j$pVtlfok|0d^V!4!?hU9APhw2@? + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/mutex.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - mutex.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1111100.0 %
Date:2023-12-06 10:06:33Functions:668181.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
std::tuple<double, double, double, double> mrs_lib::get_mutexed<double, double, double, double>(std::mutex&, double&, double&, double&, double&)0
mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const mrs_lib::get_mutexed<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const>(std::mutex&, mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)0
mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const mrs_lib::get_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&)0
Eigen::Matrix<double, 2, 2, 0, 2, 2> mrs_lib::get_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> >(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2>&)0
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)0
mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::SpeedTrackerCommand_<std::allocator<void> >&)0
mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&)0
mrs_lib::KalmanFilter<2, 1, 1>::statecov_t mrs_lib::get_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 2, 1, 0, 2, 1> >(std::mutex&, Eigen::Matrix<double, 2, 1, 0, 2, 1>, Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> >(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2>, Eigen::Matrix<double, 2, 2, 0, 2, 2>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(std::mutex&, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(std::mutex&, Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::Matrix<double, 3, 3, 0, 3, 3>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 6, 1, 0, 6, 1> >(std::mutex&, Eigen::Matrix<double, 6, 1, 0, 6, 1>, Eigen::Matrix<double, 6, 1, 0, 6, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 6, 6, 0, 6, 6> >(std::mutex&, Eigen::Matrix<double, 6, 6, 0, 6, 6>, Eigen::Matrix<double, 6, 6, 0, 6, 6>&)0
auto mrs_lib::set_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t&)0
mrs_msgs::TrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::TrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::TrackerCommand_<std::allocator<void> >&)1
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)2
mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >(std::mutex&, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >&)2
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)47
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> >&)53
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)94
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)94
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)219
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> >&)1050
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&)1144
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&)1697
int mrs_lib::get_mutexed<int>(std::mutex&, int&)4344
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)4764
auto mrs_lib::set_mutexed<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >(std::mutex&, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >&)4806
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&)4883
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&)5130
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&)6660
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)7279
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> >&)9713
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&)9942
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)12620
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)18557
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&)21983
mrs_msgs::MpcPredictionFullState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::MpcPredictionFullState_<std::allocator<void> > >(std::mutex&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> >&)21983
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)22861
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)22861
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> >&)24931
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&)25579
auto mrs_lib::set_mutexed<mrs_msgs::TrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::TrackerCommand_<std::allocator<void> >, mrs_msgs::TrackerCommand_<std::allocator<void> >&)32887
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)33026
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> >&)44074
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)44252
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)46861
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>&)49661
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&)49804
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&)50001
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&)53946
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>&)66269
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>&)69250
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> >&)71033
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>&)73204
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)82356
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&)86696
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>&)91698
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&)93576
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&)94927
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&)100733
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> >&)107892
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&)149607
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> >&)151949
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&)168908
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&)168909
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)181740
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> > >&)201062
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)226041
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)260822
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)287199
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> >&)292588
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)359541
double mrs_lib::get_mutexed<double>(std::mutex&, double&)407345
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&)423946
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&)424395
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)612525
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&)757525
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&)784539
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&)828823
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - mutex.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1111100.0 %
Date:2023-12-06 10:06:33Functions:668181.5 %
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Function Name Sort by function nameHit count Sort by hit count
std::tuple<Eigen::Matrix<double, -1, 1, 0, -1, 1>, double> mrs_lib::get_mutexed<Eigen::Matrix<double, -1, 1, 0, -1, 1>, double>(std::mutex&, Eigen::Matrix<double, -1, 1, 0, -1, 1>&, double&)21983
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>&)69250
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&)94927
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>&)66269
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&)1697
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)22861
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)7279
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)12620
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&)6660
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&)757525
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&)49804
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&)149607
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&)50001
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&)86696
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&)53946
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&)100733
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&)784539
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&)828823
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&)5130
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&)93576
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)181740
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)226041
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)22861
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&)25579
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&)9942
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)46861
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)18557
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)2
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)260822
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>&)91698
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>&)49661
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>&)73204
mrs_msgs::TrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::TrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::TrackerCommand_<std::allocator<void> >&)1
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)219
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)0
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)82356
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> >&)21983
mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >(std::mutex&, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >&)2
mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&)0
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)44252
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)287199
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&)424395
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&)168908
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> >&)24931
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> >&)71033
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> > >&)201062
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)4764
double mrs_lib::get_mutexed<double>(std::mutex&, double&)407345
int mrs_lib::get_mutexed<int>(std::mutex&, int&)4344
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)359541
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)33026
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&)4883
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&)1144
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)94
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)94
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)47
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> >&)44074
auto mrs_lib::set_mutexed<mrs_msgs::TrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::TrackerCommand_<std::allocator<void> >, mrs_msgs::TrackerCommand_<std::allocator<void> >&)32887
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> >&)1050
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> >&)151949
auto mrs_lib::set_mutexed<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >(std::mutex&, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >&)4806
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> >&)53
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> >&)292588
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> >&)107892
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&)423946
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&)168909
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> >&)9713
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)612525
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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..4123d3c071 --- /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:2023-12-06 10:06:33Functions:668181.5 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Defines helper routines for getting and setting variables under mutex locks
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef MUTEX_H
+       6             : #define MUTEX_H
+       7             : 
+       8             : #include <iostream>
+       9             : #include <mutex>
+      10             : #include <tuple>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             : 
+      15             : /**
+      16             :  * @brief thread-safe getter and setter for values of variables (args)
+      17             :  *
+      18             :  * @tparam GetArgs types of the variables to get
+      19             :  * @tparam SetArgs types of the variables to set
+      20             :  * @param mut mutex which protects the variables
+      21             :  * @param get tuple of variable references to obtain the values from
+      22             :  * @param to_set tuple of variable references to set the new values from \p from_set
+      23             :  * @param from_set tuple of the new values to be set to \p to_set
+      24             :  *
+      25             :  * @return tuple of the values from \p get
+      26             :  */
+      27             : template <class... GetArgs, class... SetArgs>
+      28             : std::tuple<GetArgs...> get_set_mutexed(std::mutex& mut, std::tuple<GetArgs&...> get, std::tuple<SetArgs...> from_set, std::tuple<SetArgs&...> to_set) {
+      29             : 
+      30             :   std::scoped_lock lock(mut);
+      31             : 
+      32             :   std::tuple<GetArgs...> result = get;
+      33             :   to_set = from_set;
+      34             : 
+      35             :   return result;
+      36             : }
+      37             : 
+      38             : /**
+      39             :  * @brief thread-safe getter for values of variables (args)
+      40             :  *
+      41             :  * @tparam Args types of the variables
+      42             :  * @param mut mutex which protects the variables
+      43             :  * @param args variables to obtain the values from
+      44             :  *
+      45             :  * @return std::tuple of the values
+      46             :  */
+      47             : template <class... Args>
+      48      303546 : std::tuple<Args...> get_mutexed(std::mutex& mut, Args&... args) {
+      49             : 
+      50      607092 :   std::scoped_lock lock(mut);
+      51             : 
+      52      303546 :   std::tuple result = std::tuple(args...);
+      53             : 
+      54      607092 :   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     6069695 : T get_mutexed(std::mutex& mut, T& arg) {
+      69             : 
+      70    10000019 :   std::scoped_lock lock(mut);
+      71             : 
+      72    12138452 :   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     1893407 : auto set_mutexed(std::mutex& mut, const T what, T& where) {
+     117             : 
+     118     3161450 :   std::scoped_lock lock(mut);
+     119             : 
+     120     1890095 :   where = what;
+     121             : 
+     122     3781167 :   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:24127587.6 %
Date:2023-12-06 10:06:33Functions:646697.0 %
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Function Name Sort by function nameHit count Sort by hit count
void mrs_lib::ParamLoader::printValue<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&)0
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::ParamLoader::printValue(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)1
void mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&)1
void mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > const&)1
void mrs_lib::ParamLoader::loadMatrixStatic<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)1
void mrs_lib::ParamLoader::loadMatrixStatic<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)1
void mrs_lib::ParamLoader::loadMatrixDynamic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)1
void mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> mrs_lib::ParamLoader::loadMatrixStatic2<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
bool mrs_lib::ParamLoader::loadParamReusable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> mrs_lib::ParamLoader::loadMatrixStatic_internal<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)1
std::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)1
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&)1
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)2
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)2
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)2
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3
mrs_lib::ParamLoader::printValue_recursive(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, unsigned int)3
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)4
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic_internal<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)4
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)5
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixX<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)8
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)56
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)64
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)140
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)142
void mrs_lib::ParamLoader::loadMatrixStatic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)188
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)188
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)188
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&)235
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&)282
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixX<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)332
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&)517
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)517
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> >&)517
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)791
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)793
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1186
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&)1624
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)1625
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> > > >&)1625
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)1808
mrs_lib::ParamLoader::loadedSuccessfully()1940
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)2337
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)2572
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)2572
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)2773
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)5025
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5096
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> >&)7366
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&)7602
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)7602
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)8127
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)8127
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)18164
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)18869
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)18869
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)39652
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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:24127587.6 %
Date:2023-12-06 10:06:33Functions:646697.0 %
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Function Name Sort by function nameHit count Sort by hit count
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::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&)235
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)64
mrs_lib::ParamLoader::printValue(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)1
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&)1624
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&)7602
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)8127
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&)282
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&)517
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)18869
void mrs_lib::ParamLoader::printValue<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&)0
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)2572
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5096
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixX<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)332
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixX<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)8
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)1
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)2
void mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&)1
void mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > const&)1
void mrs_lib::ParamLoader::loadMatrixStatic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)188
void mrs_lib::ParamLoader::loadMatrixStatic<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)1
void mrs_lib::ParamLoader::loadMatrixStatic<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)1
void mrs_lib::ParamLoader::loadMatrixDynamic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)1
void mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> mrs_lib::ParamLoader::loadMatrixStatic2<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)188
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)2
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)2
bool mrs_lib::ParamLoader::loadParamReusable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)140
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
mrs_lib::ParamLoader::loadedSuccessfully()1940
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1186
mrs_lib::ParamLoader::printValue_recursive(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, unsigned int)3
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)39652
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)5
Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> mrs_lib::ParamLoader::loadMatrixStatic_internal<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)4
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)188
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic_internal<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)4
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)142
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)1
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)7602
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)1625
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)517
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)8127
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)18869
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)2572
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)56
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&)1
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> >&)7366
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> > > >&)1625
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> >&)517
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)5025
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)2773
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)18164
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)2337
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)791
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)793
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)1808
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Current view:top level - mrs_lib/include/mrs_lib - param_loader.h (source / functions)HitTotalCoverage
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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          64 :   void printError(const std::string& str)
+      77             :   {
+      78          64 :     if (m_node_name.empty())
+      79          17 :       ROS_ERROR_STREAM(str);
+      80             :     else
+      81          48 :       ROS_ERROR_STREAM("[" << m_node_name << "]: " << str);
+      82          64 :   }
+      83           0 :   void print_warning(const std::string& str)
+      84             :   {
+      85           0 :     if (m_node_name.empty())
+      86           0 :       ROS_WARN_STREAM(str);
+      87             :     else
+      88           0 :       ROS_WARN_STREAM("[" << m_node_name << "]: " << str);
+      89           0 :   }
+      90             :   //}
+      91             : 
+      92             :   /* printValue function and overloads //{ */
+      93             : 
+      94             :   template <typename T>
+      95       37170 :   void printValue(const std::string& name, const T& value)
+      96             :   {
+      97       37170 :     if (m_node_name.empty())
+      98       20903 :       std::cout << "\t" << name << ":\t" << value << std::endl;
+      99             :     else
+     100       16624 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << value);
+     101       37170 :   }
+     102             : 
+     103             :   template <typename T>
+     104        2141 :   void printValue(const std::string& name, const std::vector<T>& value)
+     105             :   {
+     106        4282 :     std::stringstream strstr;
+     107        2141 :     if (m_node_name.empty())
+     108        1040 :       strstr << "\t";
+     109        2141 :     strstr << name << ":\t";
+     110        2141 :     size_t it = 0;
+     111        7365 :     for (const auto& elem : value)
+     112             :     {
+     113        5224 :       strstr << elem;
+     114        5224 :       if (it < value.size() - 1)
+     115        3393 :         strstr << ", ";
+     116        5224 :       it++;
+     117             :     }
+     118        2141 :     if (m_node_name.empty())
+     119        1040 :       std::cout << strstr.str() << std::endl;
+     120             :     else
+     121        1101 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << strstr.str());
+     122        2141 :   }
+     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         282 :   void printValue(const std::string& name, const MatrixX<T>& value)
+     147             :   {
+     148         564 :     std::stringstream strstr;
+     149             :     /* const Eigen::IOFormat fmt(4, 0, ", ", "\n", "\t\t[", "]"); */
+     150             :     /* strstr << value.format(fmt); */
+     151         846 :     const Eigen::IOFormat fmt;
+     152         282 :     strstr << value.format(fmt);
+     153         282 :     if (m_node_name.empty())
+     154          47 :       std::cout << "\t" << name << ":\t" << std::endl << strstr.str() << std::endl;
+     155             :     else
+     156         235 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':" << std::endl << strstr.str());
+     157         282 :   }
+     158             : 
+     159           3 :   std::string printValue_recursive(const std::string& name, XmlRpc::XmlRpcValue& value, unsigned depth = 0)
+     160             :   {
+     161           6 :     std::stringstream strstr;
+     162           6 :     for (unsigned it = 0; it < depth; it++)
+     163           3 :       strstr << "\t";
+     164           3 :     strstr << name << ":";
+     165           3 :     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           1 :       default:
+     189             :         {
+     190           1 :           strstr << "\t" << value;
+     191           1 :           break;
+     192             :         }
+     193             :     }
+     194           6 :     return strstr.str();
+     195             :   }
+     196             : 
+     197           1 :   void printValue(const std::string& name, XmlRpc::XmlRpcValue& value)
+     198             :   {
+     199           2 :     const std::string txt = printValue_recursive(name, value);
+     200           1 :     if (m_node_name.empty())
+     201           1 :       std::cout << txt << std::endl;
+     202             :     else
+     203           0 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << txt);
+     204           1 :   }
+     205             : 
+     206             :   //}
+     207             :   
+     208          56 :   std::string resolved(const std::string& param_name)
+     209             :   {
+     210          56 :     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       39652 :   bool check_duplicit_loading(const std::string& name)
+     216             :   {
+     217       39652 :     if (m_loaded_params.count(name))
+     218             :     {
+     219          12 :       printError(std::string("Tried to load parameter ") + name + std::string(" twice"));
+     220          12 :       m_load_successful = false;
+     221          12 :       return true;
+     222             :     } else
+     223             :     {
+     224       38791 :       return false;
+     225             :     }
+     226             :   }
+     227             :   //}
+     228             : 
+     229             :   /* loadMatrixStatic_internal helper function for loading static Eigen matrices //{ */
+     230             :   template <int rows, int cols, typename T>
+     231           5 :   Eigen::Matrix<T, rows, cols> loadMatrixStatic_internal(const std::string& name, const Eigen::Matrix<T, rows, cols>& default_value, optional_t optional, unique_t unique)
+     232             :   {
+     233          10 :     MatrixX<T> dynamic = loadMatrixX(name, MatrixX<T>(default_value), rows, cols, optional, unique, NO_SWAP);
+     234           5 :     if (dynamic.rows() == rows || dynamic.cols() == cols)
+     235           5 :       return dynamic;
+     236             :     else
+     237           0 :       return default_value;
+     238             :   }
+     239             :   //}
+     240             : 
+     241             :   /* helper functions for loading dynamic Eigen matrices //{ */
+     242             :   // loadMatrixX helper function for loading dynamic Eigen matrices //{
+     243             :   template <typename T>
+     244         340 :   MatrixX<T> loadMatrixX(const std::string& name, const MatrixX<T>& default_value, int rows, int cols = Eigen::Dynamic, optional_t optional = OPTIONAL, unique_t unique = UNIQUE, swap_t swap = NO_SWAP, bool printValues = true)
+     245             :   {
+     246         680 :     const std::string name_prefixed = m_prefix + name;
+     247         340 :     MatrixX<T> loaded = default_value;
+     248             :     // first, check if the user already tried to load this parameter
+     249         340 :     if (unique && check_duplicit_loading(name_prefixed))
+     250          12 :       return loaded;
+     251             : 
+     252             :     // this function only accepts dynamic columns (you can always transpose the matrix afterward)
+     253         328 :     if (rows < 0)
+     254             :     {
+     255             :       // if the parameter was compulsory, alert the user and set the flag
+     256           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed));
+     257           0 :       m_load_successful = false;
+     258           0 :       return loaded;
+     259             :     }
+     260         328 :     bool expect_zero_matrix = rows == 0;
+     261         328 :     if (expect_zero_matrix)
+     262             :     {
+     263           1 :       if (cols > 0)
+     264             :       {
+     265           0 :         printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + ". One dimension indicates zero matrix, but other expects non-zero.");
+     266           0 :         m_load_successful = false;
+     267           0 :         return loaded;
+     268             :       }
+     269             :     }
+     270             : 
+     271             : 
+     272         328 :     bool cur_load_successful = true;
+     273         328 :     bool check_size_exact = true;
+     274         328 :     if (cols <= 0)  // this means that the cols dimension is dynamic or a zero matrix is expected
+     275          92 :       check_size_exact = false;
+     276             : 
+     277         656 :     std::vector<T> tmp_vec;
+     278             :     // try to load the parameter
+     279         328 :     bool success = m_pp.getParam(name_prefixed, tmp_vec);
+     280             :     // check if the loaded vector has correct length
+     281         328 :     bool correct_size = (int)tmp_vec.size() == rows * cols;
+     282         328 :     if (!check_size_exact && !expect_zero_matrix)
+     283          91 :       correct_size = (int)tmp_vec.size() % rows == 0;  // if the cols dimension is dynamic, the size just has to be divisable by rows
+     284             : 
+     285         328 :     if (success && correct_size)
+     286             :     {
+     287             :       // if successfully loaded, everything is in order
+     288             :       // transform the vector to the matrix
+     289         281 :       if (cols <= 0 && rows > 0)
+     290          91 :         cols = tmp_vec.size() / rows;
+     291         281 :       if (swap)
+     292             :       {
+     293          44 :         int tmp = cols;
+     294          44 :         cols = rows;
+     295          44 :         rows = tmp;
+     296             :       }
+     297         281 :       loaded = Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, Eigen::Unaligned>(tmp_vec.data(), rows, cols);
+     298             :     } else
+     299             :     {
+     300          47 :       if (success && !correct_size)
+     301             :       {
+     302             :         // warn the user that this parameter was not successfully loaded because of wrong vector length (might be an oversight)
+     303           0 :         std::string warning =
+     304             :             std::string("Matrix parameter ") + name_prefixed
+     305             :             + std::string(" could not be loaded because the vector has a wrong length " + std::to_string(tmp_vec.size()) + " instead of expected ");
+     306             :         // process the message correctly based on whether the loaded matrix should be dynamic or static
+     307           0 :         if (cols <= 0)  // for dynamic matrices
+     308           0 :           warning = warning + std::string("number divisible by ") + std::to_string(rows);
+     309             :         else  // for static matrices
+     310           0 :           warning = warning + std::to_string(rows * cols);
+     311           0 :         print_warning(warning);
+     312             :       }
+     313             :       // if it was not loaded, set the default value
+     314          47 :       loaded = default_value;
+     315          47 :       if (!optional)
+     316             :       {
+     317             :         // if the parameter was compulsory, alert the user and set the flag
+     318          47 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     319          47 :         cur_load_successful = false;
+     320             :       }
+     321             :     }
+     322             : 
+     323             :     // check if load was a success
+     324         328 :     if (cur_load_successful)
+     325             :     {
+     326         281 :       if (m_print_values && printValues)
+     327         280 :         printValue(name_prefixed, loaded);
+     328         281 :       m_loaded_params.insert(name_prefixed);
+     329             :     } else
+     330             :     {
+     331          47 :       m_load_successful = false;
+     332             :     }
+     333             :     // finally, return the resulting value
+     334         328 :     return loaded;
+     335             :   }
+     336             :   //}
+     337             : 
+     338             :   /* loadMatrixArray_internal helper function for loading an array of EigenXd matrices with known dimensions //{ */
+     339             :   template <typename T>
+     340           5 :   std::vector<MatrixX<T>> loadMatrixArray_internal(const std::string& name, const std::vector<MatrixX<T>>& default_value, optional_t optional, unique_t unique)
+     341             :   {
+     342          10 :     const std::string name_prefixed = m_prefix + name;
+     343             :     int rows;
+     344          10 :     std::vector<int> cols;
+     345           5 :     bool success = true;
+     346           5 :     success = success && m_pp.getParam(name_prefixed + "/rows", rows);
+     347           5 :     success = success && m_pp.getParam(name_prefixed + "/cols", cols);
+     348             : 
+     349          10 :     std::vector<MatrixX<T>> loaded;
+     350           5 :     loaded.reserve(cols.size());
+     351             : 
+     352           5 :     int total_cols = 0;
+     353             :     /* check correctness of loaded parameters so far calculate the total dimension //{ */
+     354             : 
+     355           5 :     if (!success)
+     356             :     {
+     357           4 :       printError(std::string("Failed to load ") + resolved(name_prefixed) + std::string("/rows or ") + resolved(name_prefixed) + std::string("/cols"));
+     358           4 :       m_load_successful = false;
+     359           4 :       return default_value;
+     360             :     }
+     361           1 :     if (rows < 0)
+     362             :     {
+     363           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + std::string(" (rows and cols must be >= 0)"));
+     364           0 :       m_load_successful = false;
+     365           0 :       return default_value;
+     366             :     }
+     367           3 :     for (const auto& col : cols)
+     368             :     {
+     369           2 :       if (col < 0)
+     370             :       {
+     371           0 :         printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + std::string(" (rows and cols must be >= 0)"));
+     372           0 :         m_load_successful = false;
+     373           0 :         return default_value;
+     374             :       }
+     375           2 :       total_cols += col;
+     376             :     }
+     377             :     
+     378             :     //}
+     379             : 
+     380           3 :     const MatrixX<T> loaded_matrix = loadMatrixX(name + "/data", MatrixX<T>(), rows, total_cols, optional, unique, NO_SWAP, false);
+     381             :     /* std::cout << "loaded_matrix: " << loaded_matrix << std::endl; */
+     382             :     /* std::cout << "loaded_matrix: " << loaded_matrix.rows() << "x" << loaded_matrix.cols() << std::endl; */
+     383             :     /* std::cout << "expected dims: " << rows << "x" << total_cols << std::endl; */
+     384           1 :     if (loaded_matrix.rows() != rows || loaded_matrix.cols() != total_cols)
+     385             :     {
+     386           0 :       m_load_successful = false;
+     387           0 :       return default_value;
+     388             :     }
+     389             : 
+     390           1 :     int cols_loaded = 0;
+     391           3 :     for (unsigned it = 0; it < cols.size(); it++)
+     392             :     {
+     393           2 :       const int cur_cols = cols.at(it);
+     394           2 :       const MatrixX<T> cur_mat = loaded_matrix.block(0, cols_loaded, rows, cur_cols);
+     395             :       /* std::cout << "cur_mat: " << cur_mat << std::endl; */
+     396           2 :       loaded.push_back(cur_mat);
+     397           2 :       cols_loaded += cur_cols;
+     398           2 :       printValue(name_prefixed + "/matrix#" + std::to_string(it), cur_mat);
+     399             :     }
+     400           1 :     return loaded;
+     401             :   }
+     402             :   //}
+     403             : 
+     404             :   /* loadMatrixStatic_internal helper function for loading EigenXd matrices with known dimensions //{ */
+     405             :   template <typename T>
+     406         192 :   MatrixX<T> loadMatrixStatic_internal(const std::string& name, const MatrixX<T>& default_value, int rows, int cols, optional_t optional, unique_t unique)
+     407             :   {
+     408         384 :     MatrixX<T> loaded = default_value;
+     409             :     // first, check that at least one dimension is set
+     410         192 :     if (rows <= 0 || cols <= 0)
+     411             :     {
+     412           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name) + std::string(" (use loadMatrixDynamic?)"));
+     413           0 :       m_load_successful = false;
+     414           0 :       return loaded;
+     415             :     }
+     416             : 
+     417         192 :     return loadMatrixX(name, default_value, rows, cols, optional, unique, NO_SWAP);
+     418             :   }
+     419             :   //}
+     420             : 
+     421             :   /* loadMatrixDynamic_internal helper function for loading Eigen matrices with one dynamic (unspecified) dimension //{ */
+     422             :   template <typename T>
+     423         142 :   MatrixX<T> loadMatrixDynamic_internal(const std::string& name, const MatrixX<T>& default_value, int rows, int cols, optional_t optional, unique_t unique)
+     424             :   {
+     425         284 :     MatrixX<T> loaded = default_value;
+     426             : 
+     427             :     // next, check that at least one dimension is set
+     428         142 :     if (rows <= 0 && cols <= 0)
+     429             :     {
+     430           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name) + std::string(" (at least one dimension must be specified)"));
+     431           0 :       m_load_successful = false;
+     432           0 :       return loaded;
+     433             :     }
+     434             : 
+     435         142 :     swap_t swap = NO_SWAP;
+     436         142 :     if (rows <= 0)
+     437             :     {
+     438          44 :       int tmp = rows;
+     439          44 :       rows = cols;
+     440          44 :       cols = tmp;
+     441          44 :       swap = SWAP;
+     442             :     }
+     443         142 :     return loadMatrixX(name, default_value, rows, cols, optional, unique, swap);
+     444             :   }
+     445             :   //}
+     446             :   //}
+     447             : 
+     448             :   /* load helper function for generic types //{ */
+     449             :   // This function tries to load a parameter with name 'name' and a default value.
+     450             :   // You can use the flag 'optional' to not throw a ROS_ERROR when the parameter
+     451             :   // cannot be loaded and the flag 'printValues' to set whether the loaded
+     452             :   // value and name of the parameter should be printed to cout.
+     453             :   // If 'optional' is set to false and the parameter could not be loaded,
+     454             :   // the flag 'load_successful' is set to false and a ROS_ERROR message
+     455             :   // is printer.
+     456             :   // If 'unique' flag is set to false then the parameter is not checked
+     457             :   // for being loaded twice.
+     458             :   // Returns a tuple, containing either the loaded or the default value and a bool,
+     459             :   // indicating if the value was loaded (true) or the default value was used (false).
+     460             :   template <typename T>
+     461       39313 :   std::pair<T, bool> load(const std::string& name, const T& default_value, optional_t optional = OPTIONAL, unique_t unique = UNIQUE)
+     462             :   {
+     463       78626 :     const std::string name_prefixed = m_prefix + name;
+     464       48895 :     T loaded = default_value;
+     465       39313 :     if (unique && check_duplicit_loading(name_prefixed))
+     466           0 :       return {loaded, false};
+     467             : 
+     468       39313 :     bool cur_load_successful = true;
+     469             :     // try to load the parameter
+     470       39313 :     const bool success = m_pp.getParam(name_prefixed, loaded);
+     471       39313 :     if (!success)
+     472             :     {
+     473             :       // if it was not loaded, set the default value
+     474         706 :       loaded = default_value;
+     475         706 :       if (!optional)
+     476             :       {
+     477             :         // if the parameter was compulsory, alert the user and set the flag
+     478           1 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     479           1 :         cur_load_successful = false;
+     480             :       }
+     481             :     }
+     482             : 
+     483       38517 :     if (cur_load_successful)
+     484             :     {
+     485             :       // everything is fine and just print the name_prefixed and value if required
+     486       39312 :       if (m_print_values)
+     487       39312 :         printValue(name_prefixed, loaded);
+     488             :       // mark the param name_prefixed as successfully loaded
+     489       40108 :       m_loaded_params.insert(name_prefixed);
+     490             :     } else
+     491             :     {
+     492           1 :       m_load_successful = false;
+     493             :     }
+     494             :     // finally, return the resulting value
+     495       39313 :     return {loaded, success};
+     496             :   }
+     497             :   //}
+     498             : 
+     499             : public:
+     500             :   /*!
+     501             :     * \brief Main constructor.
+     502             :     *
+     503             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     504             :     * \param printValues  If true, the loaded values will be printed to stdout using std::cout or ROS_INFO if node_name is not empty.
+     505             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     506             :     */
+     507        1808 :   ParamLoader(const ros::NodeHandle& nh, bool printValues = true, std::string_view node_name = std::string())
+     508        1808 :       : m_load_successful(true),
+     509             :         m_print_values(printValues),
+     510             :         m_node_name(node_name),
+     511             :         m_nh(nh),
+     512        1902 :         m_pp(nh, m_node_name)
+     513             :   {
+     514             :     /* std::cout << "Initialized1 ParamLoader for node " << node_name << std::endl; */
+     515        1808 :   }
+     516             : 
+     517             :   /* Constructor overloads //{ */
+     518             :   /*!
+     519             :     * \brief Convenience overload to enable writing ParamLoader pl(nh, node_name);
+     520             :     *
+     521             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     522             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     523             :     */
+     524         793 :   ParamLoader(const ros::NodeHandle& nh, std::string_view node_name)
+     525         793 :       : ParamLoader(nh, true, node_name)
+     526             :   {
+     527             :     /* std::cout << "Initialized2 ParamLoader for node " << node_name << std::endl; */
+     528         793 :   }
+     529             : 
+     530             :   /*!
+     531             :     * \brief Convenience overload to enable writing ParamLoader pl(nh, "node_name");
+     532             :     *
+     533             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     534             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     535             :     */
+     536             :   ParamLoader(const std::string& filepath, const ros::NodeHandle& nh)
+     537             :     : ParamLoader(nh, "none")
+     538             :   {
+     539             :     YAML::Node node = YAML::Load(filepath);
+     540             :   }
+     541             :   //}
+     542             : 
+     543             :   /* setPrefix function //{ */
+     544             :   
+     545             :   /*!
+     546             :     * \brief All loaded parameters will be prefixed with this string.
+     547             :     *
+     548             :     * \param prefix  the prefix to be applied to all loaded parameters from now on.
+     549             :     */
+     550         791 :   void setPrefix(const std::string& prefix)
+     551             :   {
+     552         791 :     m_prefix = prefix;
+     553         791 :   }
+     554             :   
+     555             :   //}
+     556             : 
+     557             :   /* getPrefix function //{ */
+     558             :   
+     559             :   /*!
+     560             :     * \brief Returns the current parameter name prefix.
+     561             :     *
+     562             :     * \return the current prefix to be applied to the loaded parameters.
+     563             :     */
+     564             :   std::string getPrefix()
+     565             :   {
+     566             :     return m_prefix;
+     567             :   }
+     568             :   
+     569             :   //}
+     570             : 
+     571             :   /* addYamlFile() function //{ */
+     572             :   
+     573             :   /*!
+     574             :     * \brief Adds the specified file as a source of static parameters.
+     575             :     *
+     576             :     * \param filepath The full path to the yaml file to be loaded.
+     577             :     * \return true if loading and parsing the file was successful, false otherwise.
+     578             :     */
+     579        5190 :   bool addYamlFile(const std::string& filepath)
+     580             :   {
+     581        5190 :     return m_pp.addYamlFile(filepath);
+     582             :   }
+     583             :   //}
+     584             : 
+     585             :   /* addYamlFileFromParam() function //{ */
+     586             :   
+     587             :   /*!
+     588             :     * \brief Loads a filepath from a parameter loads that file as a YAML.
+     589             :     *
+     590             :     * \param param_name Name of the parameter from which to load the YAML filename to be loaded.
+     591             :     * \return true      if loading and parsing the file was successful, false otherwise.
+     592             :     */
+     593        1186 :   bool addYamlFileFromParam(const std::string& param_name)
+     594             :   {
+     595        2372 :     std::string filepath;
+     596        1186 :     if (!loadParam(param_name, filepath))
+     597           0 :       return false;
+     598        1186 :     return m_pp.addYamlFile(filepath);
+     599             :   }
+     600             :   //}
+     601             : 
+     602             :   /* loadedSuccessfully function //{ */
+     603             :   /*!
+     604             :     * \brief Indicates whether all compulsory parameters were successfully loaded.
+     605             :     *
+     606             :     * \return false if any compulsory parameter was not loaded (is not present at rosparam server). Otherwise returns true.
+     607             :     */
+     608        1987 :   bool loadedSuccessfully()
+     609             :   {
+     610        1987 :     return m_load_successful;
+     611             :   }
+     612             :   //}
+     613             : 
+     614             :   /* loadParam function for optional parameters //{ */
+     615             :   /*!
+     616             :     * \brief Loads a parameter from the rosparam server with a default value.
+     617             :     *
+     618             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     619             :     * the default value is used.
+     620             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     621             :     *
+     622             :     * \param name          Name of the parameter in the rosparam server.
+     623             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     624             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     625             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     626             :     */
+     627             :   template <typename T>
+     628        2774 :   bool loadParam(const std::string& name, T& out_value, const T& default_value)
+     629             :   {
+     630        2774 :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     631        2774 :     out_value = ret;
+     632        2775 :     return success;
+     633             :   }
+     634             :   /*!
+     635             :     * \brief Loads a parameter from the rosparam server with a default value.
+     636             :     *
+     637             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     638             :     * the default value is used.
+     639             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     640             :     *
+     641             :     * \param name          Name of the parameter in the rosparam server.
+     642             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     643             :     * \return              The loaded parameter value.
+     644             :     */
+     645             :   template <typename T>
+     646         235 :   T loadParam2(const std::string& name, const T& default_value)
+     647             :   {
+     648         423 :     const auto loaded = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     649         423 :     return loaded.first;
+     650             :   }
+     651             :   /*!
+     652             :     * \brief Loads a parameter from the rosparam server with a default value.
+     653             :     *
+     654             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     655             :     * the default value is used.
+     656             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     657             :     *
+     658             :     * \param name          Name of the parameter in the rosparam server.
+     659             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     660             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     661             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     662             :     */
+     663             :   template <typename T>
+     664             :   bool loadParamReusable(const std::string& name, T& out_value, const T& default_value)
+     665             :   {
+     666             :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, REUSABLE);
+     667             :     out_value = ret;
+     668             :     return success;
+     669             :   }
+     670             :   /*!
+     671             :     * \brief Loads an optional reusable parameter from the rosparam server.
+     672             :     *
+     673             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     674             :     * the default value is used.
+     675             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     676             :     *
+     677             :     * \param name          Name of the parameter in the rosparam server.
+     678             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     679             :     * \return              The loaded parameter value.
+     680             :     */
+     681             :   template <typename T>
+     682             :   T loadParamReusable2(const std::string& name, const T& default_value)
+     683             :   {
+     684             :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, REUSABLE);
+     685             :     return ret;
+     686             :   }
+     687             :   //}
+     688             : 
+     689             :   /* loadParam function for compulsory parameters //{ */
+     690             :   /*!
+     691             :     * \brief Loads a compulsory parameter from the rosparam server.
+     692             :     *
+     693             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     694             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     695             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     696             :     *
+     697             :     * \param name          Name of the parameter in the rosparam server.
+     698             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     699             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     700             :     */
+     701             :   template <typename T>
+     702       35034 :   bool loadParam(const std::string& name, T& out_value)
+     703             :   {
+     704       45811 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     705       36145 :     out_value = ret;
+     706       44461 :     return success;
+     707             :   }
+     708             :   /*!
+     709             :     * \brief Loads a compulsory parameter from the rosparam server.
+     710             :     *
+     711             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     712             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     713             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     714             :     *
+     715             :     * \param name          Name of the parameter in the rosparam server.
+     716             :     * \return              The loaded parameter value.
+     717             :     */
+     718             :   template <typename T>
+     719             :   T loadParam2(const std::string& name)
+     720             :   {
+     721             :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     722             :     return ret;
+     723             :   }
+     724             :   /*!
+     725             :     * \brief Loads a compulsory parameter from the rosparam server.
+     726             :     *
+     727             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     728             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     729             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     730             :     *
+     731             :     * \param name          Name of the parameter in the rosparam server.
+     732             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     733             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     734             :     */
+     735             :   template <typename T>
+     736           1 :   bool loadParamReusable(const std::string& name, T& out_value)
+     737             :   {
+     738           2 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, REUSABLE);
+     739           1 :     out_value = ret;
+     740           2 :     return success;
+     741             :   }
+     742             :   /*!
+     743             :     * \brief Loads a compulsory parameter from the rosparam server.
+     744             :     *
+     745             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     746             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     747             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     748             :     *
+     749             :     * \param name          Name of the parameter in the rosparam server.
+     750             :     * \return              The loaded parameter value.
+     751             :     */
+     752             :   template <typename T>
+     753             :   T loadParamReusable2(const std::string& name)
+     754             :   {
+     755             :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, REUSABLE);
+     756             :     return ret;
+     757             :   }
+     758             :   //}
+     759             : 
+     760             :   /* loadParam specializations for ros::Duration type //{ */
+     761             : 
+     762             :   /*!
+     763             :     * \brief An overload for loading ros::Duration.
+     764             :     *
+     765             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+     766             :     *
+     767             :     * \param name          Name of the parameter in the rosparam server.
+     768             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     769             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     770             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     771             :     */
+     772             :   bool loadParam(const std::string& name, ros::Duration& out, const ros::Duration& default_value)
+     773             :   {
+     774             :     double secs;
+     775             :     const bool ret = loadParam<double>(name, secs, default_value.toSec());
+     776             :     out = ros::Duration(secs);
+     777             :     return ret;
+     778             :   }
+     779             : 
+     780             :   /*!
+     781             :     * \brief An overload for loading ros::Duration.
+     782             :     *
+     783             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+     784             :     *
+     785             :     * \param name          Name of the parameter in the rosparam server.
+     786             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     787             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     788             :     */
+     789             :   bool loadParam(const std::string& name, ros::Duration& out)
+     790             :   {
+     791             :     double secs;
+     792             :     const bool ret = loadParam<double>(name, secs);
+     793             :     out = ros::Duration(secs);
+     794             :     return ret;
+     795             :   }
+     796             :   
+     797             :   //}
+     798             : 
+     799             :   /* loadParam specializations for std_msgs::ColorRGBA type //{ */
+     800             : 
+     801             :   /*!
+     802             :     * \brief An overload for loading std_msgs::ColorRGBA.
+     803             :     *
+     804             :     * The color will be loaded as several \p double -typed variables, representing the R, G, B and A color elements.
+     805             :     *
+     806             :     * \param name          Name of the parameter in the rosparam server.
+     807             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     808             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     809             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     810             :     */
+     811             :   bool loadParam(const std::string& name, std_msgs::ColorRGBA& out, const std_msgs::ColorRGBA& default_value = {})
+     812             :   {
+     813             :     std_msgs::ColorRGBA res;
+     814             :     bool ret = true;
+     815             :     ret = ret & loadParam(name+"/r", res.r, default_value.r);
+     816             :     ret = ret & loadParam(name+"/g", res.g, default_value.g);
+     817             :     ret = ret & loadParam(name+"/b", res.b, default_value.b);
+     818             :     ret = ret & loadParam(name+"/a", res.a, default_value.a);
+     819             :     if (ret)
+     820             :       out = res;
+     821             :     return ret;
+     822             :   }
+     823             : 
+     824             :   /*!
+     825             :     * \brief An overload for loading std_msgs::ColorRGBA.
+     826             :     *
+     827             :     * The color will be loaded as several \p double -typed variables, representing the R, G, B and A color elements.
+     828             :     *
+     829             :     * \param name          Name of the parameter in the rosparam server.
+     830             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     831             :     * \return              The loaded parameter value.
+     832             :     */
+     833             :   std_msgs::ColorRGBA loadParam2(const std::string& name, const std_msgs::ColorRGBA& default_value = {})
+     834             :   {
+     835             :     std_msgs::ColorRGBA ret;
+     836             :     loadParam(name, ret, default_value);
+     837             :     return ret;
+     838             :   }
+     839             : 
+     840             :   //}
+     841             : 
+     842             :   /* loadParam specializations for XmlRpc::Value type //{ */
+     843             : 
+     844             :   /*!
+     845             :     * \brief An overload for loading an optional XmlRpc::XmlRpcValue.
+     846             :     *
+     847             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     848             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     849             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     850             :     *
+     851             :     * \param name          Name of the parameter in the rosparam server.
+     852             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     853             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     854             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     855             :     */
+     856             :   bool loadParam(const std::string& name, XmlRpc::XmlRpcValue& out, const XmlRpc::XmlRpcValue& default_value)
+     857             :   {
+     858             :     return loadParam<XmlRpc::XmlRpcValue>(name, out, default_value);
+     859             :   }
+     860             : 
+     861             :   /*!
+     862             :     * \brief An overload for loading a compulsory XmlRpc::XmlRpcValue.
+     863             :     *
+     864             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     865             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     866             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     867             :     *
+     868             :     * \param name          Name of the parameter in the rosparam server.
+     869             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     870             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     871             :     */
+     872             :   bool loadParam(const std::string& name, XmlRpc::XmlRpcValue& out)
+     873             :   {
+     874             :     return loadParam<XmlRpc::XmlRpcValue>(name, out);
+     875             :   }
+     876             : 
+     877             :   /*!
+     878             :     * \brief An overload for loading an optional XmlRpc::XmlRpcValue.
+     879             :     *
+     880             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     881             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     882             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     883             :     *
+     884             :     * \param name          Name of the parameter in the rosparam server.
+     885             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     886             :     * \return              the loaded parameter.
+     887             :     */
+     888             :   XmlRpc::XmlRpcValue loadParam2(const std::string& name, const XmlRpc::XmlRpcValue& default_value)
+     889             :   {
+     890             :     return loadParam2<XmlRpc::XmlRpcValue>(name, default_value);
+     891             :   }
+     892             : 
+     893             :   //}
+     894             : 
+     895             :   /* loadParam specializations and convenience functions for Eigen dynamic matrix type //{ */
+     896             : 
+     897             :   /*!
+     898             :     * \brief An overload for loading Eigen matrices.
+     899             :     *
+     900             :     * For compulsory Eigen matrices, use loadMatrixStatic() or loadMatrixDynamic().
+     901             :     * Matrix dimensions are deduced from the provided default value.
+     902             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     903             :     * the default value is used.
+     904             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     905             :     *
+     906           1 :     * \param name          Name of the parameter in the rosparam server.
+     907             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     908           1 :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     909           1 :     */
+     910             :   template <typename T>
+     911             :   void loadParam(const std::string& name, MatrixX<T>& mat, const MatrixX<T>& default_value)
+     912             :   {
+     913             :     mat = loadParam2(name, default_value);
+     914             :   }
+     915             : 
+     916             :   /*!
+     917             :     * \brief An overload for loading Eigen matrices.
+     918             :     *
+     919             :     * For compulsory Eigen matrices, use loadMatrixStatic() or loadMatrixDynamic().
+     920             :     * Matrix dimensions are deduced from the provided default value.
+     921             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     922             :     * the default value is used.
+     923             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     924             :     *
+     925             :     * \param name          Name of the parameter in the rosparam server.
+     926             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     927             :     * \return              The loaded parameter value.
+     928           1 :     */
+     929             :   template <typename T>
+     930           1 :   MatrixX<T> loadParam2(const std::string& name, const MatrixX<T>& default_value)
+     931           1 :   {
+     932             :     int rows = default_value.rows();
+     933             :     int cols = default_value.cols();
+     934             :     MatrixX<T> loaded;
+     935             :     loadMatrixDynamic(name, loaded, default_value, rows, cols);
+     936             :     return loaded;
+     937             :   }
+     938             :   
+     939             :   //}
+     940             : 
+     941             :   // loadMatrixStatic function for loading of static Eigen::Matrices //{
+     942             : 
+     943             :   /*!
+     944             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+     945             :     *
+     946             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+     947             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     948             :     * the loading process is unsuccessful.
+     949           3 :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     950             :     *
+     951           3 :     * \tparam rows  Expected number of rows of the matrix.
+     952             :     * \tparam cols  Expected number of columns of the matrix.
+     953             :     *
+     954             :     * \param name  Name of the parameter in the rosparam server.
+     955             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     956             :     *
+     957             :     */
+     958             :   template <int rows, int cols, typename T>
+     959             :   void loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat)
+     960             :   {
+     961             :     mat = loadMatrixStatic2<rows, cols, T>(name);
+     962             :   }
+     963             : 
+     964             :   /*!
+     965             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+     966             :     *
+     967             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+     968             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     969             :     * the default value is used.
+     970             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     971           2 :     *
+     972             :     * \tparam rows          Expected number of rows of the matrix.
+     973           2 :     * \tparam cols          Expected number of columns of the matrix.
+     974             :     *
+     975             :     * \param name          Name of the parameter in the rosparam server.
+     976             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     977             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     978             :     *
+     979             :     */
+     980             :   template <int rows, int cols, typename T, typename Derived>
+     981             :   void loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat, const Eigen::MatrixBase<Derived>& default_value)
+     982             :   {
+     983             :     mat = loadMatrixStatic2<rows, cols, T>(name, default_value);
+     984             :   }
+     985             : 
+     986             :   /*!
+     987             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+     988             :     *
+     989             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+     990             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     991             :     * the loading process is unsuccessful.
+     992             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     993         189 :     *
+     994             :     * \tparam rows  Expected number of rows of the matrix.
+     995         189 :     * \tparam cols  Expected number of columns of the matrix.
+     996         189 :     *
+     997             :     * \param name  Name of the parameter in the rosparam server.
+     998             :     * \return      The loaded parameter value.
+     999             :     *
+    1000             :     */
+    1001             :   template <int rows, int cols, typename T = double>
+    1002             :   Eigen::Matrix<T, rows, cols> loadMatrixStatic2(const std::string& name)
+    1003             :   {
+    1004             :     return loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>::Zero(), COMPULSORY, UNIQUE);
+    1005             :   }
+    1006             : 
+    1007             :   /*!
+    1008             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1009             :     *
+    1010             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1011             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1012             :     * the default value is used.
+    1013           1 :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1014             :     *
+    1015           1 :     * \tparam rows          Expected number of rows of the matrix.
+    1016           1 :     * \tparam cols          Expected number of columns of the matrix.
+    1017             :     *
+    1018             :     * \param name          Name of the parameter in the rosparam server.
+    1019             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1020             :     * \return              The loaded parameter value.
+    1021             :     *
+    1022             :     */
+    1023             :   template <int rows, int cols, typename T, typename Derived>
+    1024             :   Eigen::Matrix<T, rows, cols> loadMatrixStatic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value)
+    1025             :   {
+    1026             :     return loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>(default_value), OPTIONAL, UNIQUE);
+    1027             :   }
+    1028             :   //}
+    1029             : 
+    1030             :   // loadMatrixStatic function for loading of Eigen matrices with known dimensions //{
+    1031             : 
+    1032         190 :   /*!
+    1033             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1034         190 :     *
+    1035             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1036             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1037             :     * the loading process is unsuccessful.
+    1038             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1039             :     *
+    1040             :     * \param name  Name of the parameter in the rosparam server.
+    1041             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1042             :     * \param rows  Expected number of rows of the matrix.
+    1043             :     * \param cols  Expected number of columns of the matrix.
+    1044             :     */
+    1045             :   template <typename T>
+    1046             :   void loadMatrixStatic(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1047             :   {
+    1048             :     mat = loadMatrixStatic2<T>(name, rows, cols);
+    1049             :   }
+    1050             : 
+    1051             :   /*!
+    1052           2 :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1053             :     *
+    1054           2 :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1055             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1056             :     * the default value is used.
+    1057             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1058             :     *
+    1059             :     * \param name          Name of the parameter in the rosparam server.
+    1060             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1061             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1062             :     * \param rows          Expected number of rows of the matrix.
+    1063             :     * \param cols          Expected number of columns of the matrix.
+    1064             :     */
+    1065             :   template <typename T, typename Derived>
+    1066             :   void loadMatrixStatic(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1067             :   {
+    1068             :     mat = loadMatrixStatic2<T>(name, default_value, rows, cols);
+    1069             :   }
+    1070             : 
+    1071             :   /*!
+    1072             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1073             :     *
+    1074           1 :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1075             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1076           1 :     * the loading process is unsuccessful.
+    1077           1 :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1078             :     *
+    1079             :     * \param name  Name of the parameter in the rosparam server.
+    1080             :     * \param rows  Expected number of rows of the matrix.
+    1081             :     * \param cols  Expected number of columns of the matrix.
+    1082             :     * \return      The loaded parameter value.
+    1083             :     */
+    1084             :   template <typename T = double>
+    1085             :   MatrixX<T> loadMatrixStatic2(const std::string& name, int rows, int cols)
+    1086             :   {
+    1087             :     return loadMatrixStatic_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1088             :   }
+    1089             : 
+    1090             :   /*!
+    1091             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1092             :     *
+    1093             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1094           1 :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1095             :     * the default value is used.
+    1096           1 :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1097           1 :     *
+    1098             :     * \param name          Name of the parameter in the rosparam server.
+    1099             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1100             :     * \param rows          Expected number of rows of the matrix.
+    1101             :     * \param cols          Expected number of columns of the matrix.
+    1102             :     * \return              The loaded parameter value.
+    1103             :     */
+    1104             :   template <typename T, typename Derived>
+    1105             :   MatrixX<T> loadMatrixStatic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1106             :   {
+    1107             :     return loadMatrixStatic_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1108             :   }
+    1109             :   //}
+    1110             : 
+    1111             :   // loadMatrixDynamic function for half-dynamic loading of MatrixX<T> //{
+    1112             : 
+    1113         140 :   /*!
+    1114             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1115         140 :     *
+    1116             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1117             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1118             :     * the loading process is unsuccessful.
+    1119             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1120             :     *
+    1121             :     * \param name  Name of the parameter in the rosparam server.
+    1122             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1123             :     * \param rows  Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1124             :     * \param cols  Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1125             :     */
+    1126             :   template <typename T>
+    1127             :   void loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1128             :   {
+    1129             :     mat = loadMatrixDynamic2<T>(name, rows, cols);
+    1130             :   }
+    1131             : 
+    1132             :   /*!
+    1133           2 :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1134             :     *
+    1135           2 :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1136             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1137             :     * the default value is used.
+    1138             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1139             :     *
+    1140             :     * \param name          Name of the parameter in the rosparam server.
+    1141             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1142             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1143             :     * \param rows          Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1144             :     * \param cols          Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1145             :     */
+    1146             :   template <typename T, typename Derived>
+    1147             :   void loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1148             :   {
+    1149             :     mat = loadMatrixDynamic2<T>(name, default_value, rows, cols);
+    1150             :   }
+    1151             : 
+    1152             :   /*!
+    1153             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1154             :     *
+    1155             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1156             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1157             :     * the loading process is unsuccessful.
+    1158             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1159             :     *
+    1160             :     * \param name  Name of the parameter in the rosparam server.
+    1161             :     * \param rows  Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1162             :     * \param cols  Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1163             :     * \return      The loaded parameter value.
+    1164             :     */
+    1165             :   template <typename T = double>
+    1166             :   MatrixX<T> loadMatrixDynamic2(const std::string& name, int rows, int cols)
+    1167             :   {
+    1168             :     return loadMatrixDynamic_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1169             :   }
+    1170             : 
+    1171             :   /*!
+    1172             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1173             :     *
+    1174           1 :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1175             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1176           1 :     * the default value is used.
+    1177           1 :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1178             :     *
+    1179             :     * \param name          Name of the parameter in the rosparam server.
+    1180             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1181             :     * \param rows          Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1182             :     * \param cols          Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1183             :     * \return              The loaded parameter value.
+    1184             :     */
+    1185             :   template <typename T, typename Derived>
+    1186             :   MatrixX<T> loadMatrixDynamic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1187             :   {
+    1188             :     return loadMatrixDynamic_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1189             :   }
+    1190             : 
+    1191           1 :   //}
+    1192             : 
+    1193           1 :   // loadMatrixArray function for loading of an array of MatrixX<T> with known dimensions //{
+    1194           1 :   /*!
+    1195             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1196             :     *
+    1197             :     * The number of rows and columns of the matrices to be loaded is specified in the \c rosparam parameter. Specifically, the \c name/rows value specifies the
+    1198             :     * number of rows, which must be common to all the loaded matrices (i.e. it is one integer >= 0), and the \c name/cols value specifies the number of columns of
+    1199             :     * each matrix (i.e. it is an array of integers > 0). The \c name/data array contains the values of the elements of the matrices and it must have length
+    1200             :     * \f$ r\sum_i c_i \f$, where \f$ r \f$ is the common number of rows and \f$ c_i \f$ is the number of columns of the \f$ i \f$-th matrix.
+    1201             :     * A typical structure of a \c yaml file, specifying the
+    1202             :     * matrix array to be loaded using this method, is
+    1203             :     *
+    1204             :     * \code{.yaml}
+    1205             :     *
+    1206             :     * matrix_array:
+    1207           3 :     *   rows: 3
+    1208             :     *   cols: [1, 2]
+    1209           3 :     *   data: [-5.0, 0.0, 23.0,
+    1210             :     *          -5.0, 0.0, 12.0,
+    1211             :     *           2.0,   4.0,  7.0]
+    1212             :     *
+    1213             :     * \endcode
+    1214             :     *
+    1215             :     * which will be loaded as a \c std::vector, containing one \f$ 3\times 1 \f$ matrix and one \f$ 3\times 2 \f$ matrix.
+    1216             :     *
+    1217             :     * If the dimensions of the loaded matrices do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1218             :     * If the parameter with the specified name is not found on the \c rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1219             :     * the loading process is unsuccessful.
+    1220             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1221             :     *
+    1222             :     * \param name  Name of the parameter in the rosparam server.
+    1223             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1224           2 :     *
+    1225             :     */
+    1226           2 :   template <typename T>
+    1227             :   void loadMatrixArray(const std::string& name, std::vector<MatrixX<T>>& mat)
+    1228             :   {
+    1229             :     mat = loadMatrixArray2<double>(name);
+    1230             :   }
+    1231             : 
+    1232             :   /*!
+    1233             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1234             :     *
+    1235             :     * This overload of the loadMatrixArray() method takes a default value for the parameter, which is used in case a \c rosparam with the specified name is not
+    1236             :     * found in the \c rosparam server, instead of causing an unsuccessful load. This makes specifying the parameter value in the \c rosparam server optional.
+    1237             :     *
+    1238             :     * \param name           Name of the parameter in the rosparam server.
+    1239             :     * \param mat            Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1240             :     * \param default_value  The default value to be used in case the parameter is not found on the \c rosparam server.
+    1241             :     *
+    1242             :     */
+    1243             :   template <typename T>
+    1244             :   void loadMatrixArray(const std::string& name, std::vector<MatrixX<T>>& mat, const std::vector<MatrixX<T>>& default_value)
+    1245             :   {
+    1246             :     mat = loadMatrixArray2(name, default_value);
+    1247             :   }
+    1248             : 
+    1249             :   /*!
+    1250             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1251             :     *
+    1252             :     * This method works in the same way as the loadMatrixArray() method for compulsory parameters, except that the loaded
+    1253             :     * parameter is returned and not stored in the reference parameter.
+    1254             :     *
+    1255             :     * \param name           Name of the parameter in the rosparam server.
+    1256             :     * \returns              The loaded parameter or a default constructed object of the respective type.
+    1257             :     *
+    1258             :     */
+    1259             :   template <typename T = double>
+    1260             :   std::vector<MatrixX<T>> loadMatrixArray2(const std::string& name)
+    1261             :   {
+    1262             :     return loadMatrixArray_internal(name, std::vector<MatrixX<T>>(), COMPULSORY, UNIQUE);
+    1263             :   }
+    1264             : 
+    1265             :   /*!
+    1266             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1267             :     *
+    1268             :     * This method works in the same way as the loadMatrixArray() method for optional parameters, except that the loaded
+    1269             :     * parameter is returned and not stored in the reference parameter.
+    1270             :     *
+    1271             :     * \param name           Name of the parameter in the rosparam server.
+    1272             :     * \param default_value  The default value to be used in case the parameter is not found on the \c rosparam server.
+    1273             :     * \returns              The loaded parameter or the default value.
+    1274             :     *
+    1275             :     */
+    1276             :   template <typename T>
+    1277             :   std::vector<MatrixX<T>> loadMatrixArray2(const std::string& name, const std::vector<MatrixX<T>>& default_value)
+    1278             :   {
+    1279             :     return loadMatrixArray_internal(name, default_value, OPTIONAL, UNIQUE);
+    1280             :   }
+    1281             :   //}
+    1282             : 
+    1283             :   //}
+    1284             : 
+    1285             : };
+    1286             : //}
+    1287             : 
+    1288             :   /*!
+    1289             :     * \brief An overload for loading ros::Duration.
+    1290             :     *
+    1291             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+    1292             :     *
+    1293             :     * \param name          Name of the parameter in the rosparam server.
+    1294             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1295             :     * \return              The loaded parameter value.
+    1296             :     */
+    1297             :   template <>
+    1298             :   ros::Duration ParamLoader::loadParam2<ros::Duration>(const std::string& name, const ros::Duration& default_value);
+    1299             : 
+    1300             :   /*!
+    1301             :     * \brief An overload for loading ros::Duration.
+    1302             :     *
+    1303             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+    1304             :     *
+    1305             :     * \param name          Name of the parameter in the rosparam server.
+    1306             :     * \return              The loaded parameter value.
+    1307             :     */
+    1308             :   template <>
+    1309             :   ros::Duration ParamLoader::loadParam2<ros::Duration>(const std::string& name);
+    1310             : 
+    1311             : }  // namespace mrs_lib
+    1312             : 
+    1313             : #endif  // PARAM_LOADER_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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+ + diff --git a/mrs_lib/include/mrs_lib/param_loader.h.gcov.png b/mrs_lib/include/mrs_lib/param_loader.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a6480a3841aaff681461f96f3a50832e725078b3 GIT binary patch literal 4486 zcmV;15qa*3P)wbF*;AKgK{K@s+w|l_RnMKLfF5 z_F3Qp766S3ZE1x1!Kk%_9L!KWT8`>#Jy&f?l?k_WGG>{o2vw8@iL0D~aWJ~kL?xwd zFq)292BVvp6jcO`XID3^y-;`KD5e4{Mq!z+ew&rbsxxFs+pS5GVcXzRMor5Bk2o3$ z<$#`;S?OD|H|`NeVe|8k75VLcpYHjZ^RMYX-`1DAZQb1@yb;HLSC{a1R}%LA+~PRR zFskW3Ew5)us2$AL&(HS{UisDI=jUs6xv$6i=GNuDz68e&PJ-}@={npOjvYP?jt}U? z_v7c0UKfPw!Sp&N35^KPc=bb+>o_XS-j*t)|K}2(=c&SiRs5Hlo%82s$a-YssE{Fx15dep46su6e7eoYX3)qoi z_fs;h9J2JPXgJehv7r5lL>M#~5|t=YpxY+2WoKC9SW2J16~9t;9!FhemZPS1-PEVz zmMM&7U1Pg1`nXp_%uuMHqL3FA*>iIH=RMa%*5x$MC0%5)zWG)P8PHNVs7|pk8-uyg zD3;%YK9Y57Q$8Q})YkgwxM!MAFwHlK2c93C7P`&>1&(k5!<3uc9?aby&Ws6Fb8U%I z1b$kK)68gi<|(|-IqaI|nPfU|5$d9p#FEruNQlYkGC30sZYJTbI2H)Xle?#n-8m72 zS~;#~rU5hC%uN08QB2`D7}m9IpTc@(qc{lY0!*i!2hj&q+A2BQuEq><`3 ztu@W+s}(AUd&Z`vIhohSq98Q8;jS|1-Egba1n(bM(K;nVIyx>a9lOx^O4E&wy)vZR zglaq>38nw}S5s92vOe4)M)g zazqQDh{IKV%og`sv0R`n?w>T*kjUe9g1{3VO2REP@NNnqHe~E_&SYLjq4{#{bHi*e z5vD+*1R$hQs5$4=+tOXx&A>W8;4{cIH0-b zO2@Lg$KlM>3m6PlE@U`xUb&AG^sHlnXw*~bsYT7B9yKhB&1fR;4UTu2AI(rXm{%P6 z?=3xJIZnkyF4d%I7P2?Vagwce2yONe9VafNZ!WKhFdnu8Zbnilagbf7k4fay2)f8| zI3m66NlnjPb*cNP;h1Lkz&@_=J*|JAlq(cCYxGz@7=RDBUEICuX;Uetifrs3$=Y{q z_*YRc$VGzhdW#GUiMKR~ox`|QcUe~R3~{j?)zgmLK#^tc<9Dh}e1Vtx-in_ccJcAR zA7y9p7K|F0J<0*-I97hK_O4AqT703)yRtnA3BNwhv~CaPM|o=k_z% zf3WOXx#ZeVJGr;?@q{Hvz$vT{x5x~&JzH3qZPDE3yAt@^pj;PS8az)ck&I^A=3T|! zOEf5rnbD+N*QxE1#TE}WfTgtN*8&hLPlqLvGxF=LkQGzYsb z_6n1*pTa%BU9uEZB%R6f!mX@Mj*?+|-bCz~%Goh2Koo=l2$_I3>Xorsu@Jzm&pXxi zx3$nRGcyW$0JD0t(tUHklF^34CNJdIBSfIcjJ#N!=U^CiqhV1^07q~XSHF*U^8bUu z2)IlPZtkcFJ?|HhZZG_#jD7El4~mn}hEu+08Bo8F1CMb~Wp;}Y>T8`X^w)6g150s= zNm;Gg$+^Sw?}dO{=Tfv*_AGD<`!t;fT&)}(Jx%~mxT9;V#`ZyYf37pa=T;3xhzD1E z2I4U}O-0=tcYUgMx~S^rCXQAY_X10Cib>h9BOCkoc`ZKI452O+@MwuZPSewW;t&pa z#G8(7h~k-nfR$E34!yyqfgP8_=%9~SY~>Iwda+WFU-Pp>qIV+j4%|uF^FaamP>!@y z0hvilB{_mQ>puyEiwYQ>pqzw!a)0?TR!`P(MYh~G7ueAFm+nC9O+2N*Hs6)20LpzS zY;hmMBv)r~Eo7ACG`ZraAuPrh>oYyxw)L4Q z&jwlmF)bBgU!!@{e{dmZwG*Xo`gPeyj9QlZrUS+hBPVO)n5jL2U7XVekazOnGKw!E zl3{3(miLJ;pCiay5x8m)a>-8D!{R}^>_Tu)PY#jcZn8anB_KTN7G6^GGJ)*&b4=mb z;&v)wR^V1OQndCd=ENs+laV^%aSqxFTyGMtWn)A*aus_>aBKjrGZB6&aOEu)_{{g^ zpX!-;3sC$Y=ejt5fmH%yg(!+IK~VMvW<2|$Jgar{!!Li51heKtI2vIl5<@=UvYZ4f za071A#Jw3s8w)qRr6{)?HZ~1d%Zk%*W#KIz^1A?fs_lwfx@+Pnj$AH|V1)<^I;mtR zO?z&tq*YNbFh^3ZonPDc1OU@kPrb6niXgEg}hQhB})w2 zQcG?h%(@%=_8F;bmYS*niFJJC?Dp9nR(sEe$bTY6r+=bpd{dueJKJUgnkxFcb?t2$>Q!gF->g2 znaWq`0XpOI6)cE}L!G#hDRaz+n+z+{qTo9sJV6UTs-RN^6T&?i`}MdEN4TiK5v(_! zyW4~CHo8mTwqk@2aM!@)947{HV;>vdClq-KyhiDZSGF1envO`d#ULBN3PA({&1gJJ zsC}JKs61GOZ85))0<>~~o$jNhFNsjk z(W)~vyK?$*51zY5+@oOm}fk_TYjPoW~r_OPnv$hSb){c7&I z=_8d(eSHxA>rqM%xNsoZFB4 zD78>@#_B#I@*1|S``+dd3Ptpyli@0aI?Dqrbw=v?CgpFct4RxwN_--ZuF^)jd6E_) znWtu2gqO#on&Xu+q#*kuG{?fx3#bx9I#$=C&ZOTG8u+{kegumJ=%9Sws~b=}lq4^G zH}>)4GqsOt;R(kM0jnS8ltHz_Xf+ltEoXrTUHOxs?0( zsKO3acwv5hyegDOCa#Z4#6Ou<#OLzhrFHGKUrQ+LM;h3{NBjB z;&4S|$VTq8K5{c&=r)Ty_si|sFd!b;NBt+Y@NSQ#V4JknaB@g^ZW*7mKf{T%6TY>a ztq7+lqB_D^p7oK!+l1r^#i7Y|Bh@!hOxVld0tj5&v~BkTHU$lD6ACL4q)tcf;?l=m z{+c;Fv!rQgSxdRCT*8&&R9->34sydglxw-#3f3m96wGoEnlS=!nXsu~&JrqU=lUrv z#9@>^^Ov;nT1oC7a&c#B;ZZKm*z~{FI_aoT*DzYTa+WE4M!7b>o(y%s7dpk-5KtGN zsvrUDAl_e5x!%&nof$ta*R@?-6i9z|5&4xaZmfmr6ED=l-%B8aoKs7A_NMq!xx$7M zWbwFptU$m)qBfnG@OXp?Sxj(NFCA$=xfgoZ*Jg3ZkxV1f*Be;Ygw%_I@bJy<-9Xc$ z65F(}2s9~nThYDF7q(P^?t*JMK@|kybT6y#^wCtaf2XRe%Y;pJa7NEXP51PsLAchN z9Xf+Aw*@xT8MNU~=?t5aKbo8!uQLlFdbQqn)}IhRn%&2dUO}C6*;S$Y{mx>wpad?5 zf0#=>8^kfr@|!EF!Y`y!dsHEzy6d^lNTn3(*Dv)7>I~@w_tDlFPE?-Vz*4*q;D)b| z_&~7FeiH;1jZ0?-B|e<|d=j5uNPM8jWFOar(gG52fAN?ooTJ>!XM(s@^oC+obJVx2 zqkEw${K>>8qGpdgm&+WRdQ&&u)SEV8r8n;E#Aj1yKtxaJ3^Ff@2G@)BA|eljZt3Lp zSEbH#A4hrx2;#1g_;5Vq=|>v0vgOSnF3>Mhv%jSZr`7;|JMlTseH`f(KxZ=HYZD)- zGyI2RbS4VkC+LhJ`_NsE&*slih9Z_YGAV=du*8RcI+L*{2u3flji*bbH_p)pXa;wt zMc8H!mI*z+O`iuCE&TCuB~XQoXYx~Cs6hY^nFz@&!D$zWu22CJK8t-P$GDP)$v$qV z(gvZC+xf#uuNm4sy4#vAg*)_HM4-Cf?DZ_ng2EzP}b5Jx{P zoeXHx#X~7zQUlI4Ke6aVqyRpIfsDr9HW)N496*U@UL+yNsvz+~I|}hc7peOmLp0&y zw0%6ccva=$bT>Sah$H(o-CqPQqB8NUA*s^v`wFr z4admRsF6v7)^>3tvR?)E@zUAwpT?ukJ~n_$f-?8<1VcIiE_UXp0W$MU~FTQN6}Im;7UflbP#8PHmn+a 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..8cd4154952 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html @@ -0,0 +1,532 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:11211399.1 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()0
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()5
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()5
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()10
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()44
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()94
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()128
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()138
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()141
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()141
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()172
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()172
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()188
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()188
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()188
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()194
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()259
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()259
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()275
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()282
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()282
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()282
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()284
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()306
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()344
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()348
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()348
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()376
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()434
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()496
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()564
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()696
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()771
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()5622
+
+
+ + + +
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..335e9f72a1 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func.html @@ -0,0 +1,532 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:11211399.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()188
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()376
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()138
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()282
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()564
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()496
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()771
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()172
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()344
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()348
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()696
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()306
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()434
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()259
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()259
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()141
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()94
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()188
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()284
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()5622
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()5
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()10
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()47
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()94
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()141
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()282
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()188
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()44
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()282
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()275
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()172
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()348
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()128
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
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()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()47
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()94
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()194
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()5
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()47
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()47
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()141
+
+
+ + + +
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..e56c4df158 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:11211399.1 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Defines PublisherHandler and related convenience classes for upgrading the ROS publisher
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef PUBLISHER_HANDLER_H
+       6             : #define PUBLISHER_HANDLER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <ros/package.h>
+      10             : 
+      11             : #include <atomic>
+      12             : #include <string>
+      13             : #include <mutex>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             : 
+      18             : /* class PublisherHandler_impl //{ */
+      19             : 
+      20             : /**
+      21             :  * @brief implementation of the publisher handler
+      22             :  */
+      23             : template <class TopicType>
+      24             : class PublisherHandler_impl {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief default constructor
+      29             :    */
+      30             :   PublisherHandler_impl(void);
+      31             : 
+      32             :   /**
+      33             :    * @brief default destructor
+      34             :    */
+      35        3095 :   ~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        4267 :   PublisherHandler(void){};
+     102             : 
+     103             :   /**
+     104             :    * @brief generic destructor
+     105             :    */
+     106       12553 :   ~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          24 :   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..6235f2dadd --- /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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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)27561
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)34412
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)27561
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)34412
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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       34412 : double inline throttleToForce(const MotorParams_t motor_params, const double throttle) {
+      20             : 
+      21       34412 :   return motor_params.n_motors * pow((throttle - motor_params.B) / motor_params.A, 2);
+      22             : }
+      23             : 
+      24       27561 : double inline forceToThrottle(const MotorParams_t motor_params, const double force) {
+      25             : 
+      26       27561 :   return sqrt(force / motor_params.n_motors) * motor_params.A + motor_params.B;
+      27             : }
+      28             : 
+      29             : }  // namespace quadratic_throttle_model
+      30             : 
+      31             : }  // namespace mrs_lib
+      32             : 
+      33             : #endif  // QUADRATIC_THRUST_MODEL_H
+
+
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addMeasurement<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::Repredictor(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)1
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t::info_t(ros::Time const&)2
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)2
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, double const&)100
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, int const&)100
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)102
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addInputChange<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)105
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&)205
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&)638
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&)2032
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&)4264
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&)14422
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Current view:top level - mrs_lib/include/mrs_lib - repredictor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10011190.1 %
Date:2023-12-06 10:06:33Functions:205635.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&)5150
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)14422
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&)4264
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)638
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&)2032
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&)105
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&)205
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::LKF<2, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addMeasurement<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::Repredictor(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, unsigned int)0
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - repredictor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10011190.1 %
Date:2023-12-06 10:06:33Functions:205635.7 %
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          Line data    Source code
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+       1             : #ifndef REPREDICTOR_H
+       2             : #define REPREDICTOR_H
+       3             : 
+       4             : #include <Eigen/Dense>
+       5             : #include <boost/circular_buffer.hpp>
+       6             : #include <std_msgs/Time.h>
+       7             : #include <functional>
+       8             : #include <ros/ros.h>
+       9             : #include <mrs_lib/utils.h>
+      10             : 
+      11             : namespace mrs_lib
+      12             : {
+      13             :   /**
+      14             :    * \brief Implementation of the Repredictor for fusing measurements with variable delays.
+      15             :    *
+      16             :    * A standard state-space system model is assumed for the repredictor with system inputs and measurements,
+      17             :    * generated from the system state vector. The inputs and measurements may be delayed with varying durations (an older measurement may become available after
+      18             :    * a newer one). A typical use-case scenario is when you have one "fast" but imprecise sensor and one "slow" but precise sensor and you want to use them both
+      19             :    * to get a good prediction (eg. height from the Garmin LiDAR, which comes at 100Hz, and position from a SLAM, which comes at 10Hz with a long delay). If the
+      20             :    * slow sensor is significantly slower than the fast one, fusing its measurement at the time it arrives without taking into account the sensor's delay may
+      21             :    * significantly bias your latest estimate.
+      22             :    *
+      23             :    * To accomodate this, the Repredictor keeps a buffer of N last inputs and measurements (N is specified
+      24             :    * in the constructor). This buffer is then used to re-predict the desired state to a specific time, as
+      25             :    * requested by the user. Note that the re-prediction is evaluated in a lazy manner only when the user requests it,
+      26             :    * so it goes through the whole history buffer every time a prediction is requested.
+      27             :    *
+      28             :    * The Repredictor utilizes a fusion Model (specified as the template parameter), which should implement
+      29             :    * the predict() and correct() methods. This Model is used for fusing the system inputs and measurements
+      30             :    * as well as for predictions. Typically, this Model will be some kind of a Kalman Filter (LKF, UKF etc.).
+      31             :    * \note The Model should be able to accomodate predictions with varying time steps in order for
+      32             :    * the Repredictor to work correctly (see eg. the varstepLKF class).
+      33             :    *
+      34             :    * \tparam Model                  the prediction and correction model (eg. a Kalman Filter).
+      35             :    * \tparam disable_reprediction   if true, reprediction is disabled and the class will act like a dumb LKF (for evaluation purposes).
+      36             :    *
+      37             :    */
+      38             :   template <class Model, bool disable_reprediction=false>
+      39             :   class Repredictor
+      40             :   {
+      41             :   public:
+      42             :     /* states, inputs etc. definitions (typedefs, constants etc) //{ */
+      43             : 
+      44             :     using x_t = typename Model::x_t;                  /*!< \brief State vector type \f$n \times 1\f$ */
+      45             :     using u_t = typename Model::u_t;                  /*!< \brief Input vector type \f$m \times 1\f$ */
+      46             :     using z_t = typename Model::z_t;                  /*!< \brief Measurement vector type \f$p \times 1\f$ */
+      47             :     using P_t = typename Model::P_t;                  /*!< \brief State uncertainty covariance matrix type \f$n \times n\f$ */
+      48             :     using R_t = typename Model::R_t;                  /*!< \brief Measurement noise covariance matrix type \f$p \times p\f$ */
+      49             :     using Q_t = typename Model::Q_t;                  /*!< \brief Process noise covariance matrix type \f$n \times n\f$ */
+      50             :     using statecov_t = typename Model::statecov_t;    /*!< \brief Helper struct for passing around the state and its covariance in one variable */
+      51             :     using ModelPtr = typename std::shared_ptr<Model>; /*!< \brief Shorthand type for a shared pointer-to-Model */
+      52             : 
+      53             :     //}
+      54             : 
+      55             :     /* predictTo() method //{ */
+      56             :     /*!
+      57             :      * \brief Estimates the system state and covariance matrix at the specified time.
+      58             :      *
+      59             :      * The measurement and system input histories are used to estimate the state vector and
+      60             :      * covariance matrix values at the specified time, which are returned.
+      61             :      *
+      62             :      * \param to_stamp   The desired time at which the state vector and covariance matrix should be estimated.
+      63             :      * \return           Returns the estimated state vector and covariance matrix in a single struct.
+      64             :      *
+      65             :      */
+      66             :     template<bool check=disable_reprediction>
+      67         102 :     std::enable_if_t<!check, statecov_t> predictTo(const ros::Time& to_stamp)
+      68             :     {
+      69         102 :       assert(!m_history.empty());
+      70         102 :       auto hist_it = std::begin(m_history);
+      71         102 :       if (hist_it->is_measurement)
+      72             :       {
+      73             :         // if the first history point is measurement, don't use it for correction (to prevent it from being used twice)
+      74           0 :         hist_it->is_measurement = false;
+      75             :       }
+      76             :       // cur_stamp corresponds to the time point of cur_sc estimation
+      77         102 :       auto cur_stamp = hist_it->stamp;
+      78             :       // cur_sc is the current state and covariance estimate
+      79         102 :       auto cur_sc = m_sc;
+      80       14320 :       do
+      81             :       {
+      82       14422 :         cur_sc.stamp = hist_it->stamp;
+      83             :         // do the correction if current history point is a measurement
+      84       14422 :         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       14422 :         ros::Time next_stamp = to_stamp;
+      90       14422 :         if ((hist_it + 1) != std::end(m_history) && (hist_it + 1)->stamp <= to_stamp)
+      91       14320 :           next_stamp = (hist_it + 1)->stamp;
+      92             : 
+      93             :         // do the prediction
+      94       14422 :         cur_sc = predictFrom(cur_sc, *hist_it, cur_stamp, next_stamp);
+      95       14422 :         cur_stamp = next_stamp;
+      96             : 
+      97             :         // increment the history pointer
+      98       14422 :         hist_it++;
+      99       14422 :       } 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        4364 :         for (auto it = added + 1; it != std::end(m_history) && it->is_measurement; it++)
+     151        4164 :           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         205 :     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         205 :       if (m_history.empty())
+     170           2 :         m_history.push_back({stamp});
+     171         205 :       m_history.front().u = u;
+     172         205 :       m_history.front().Q = Q;
+     173         205 :       m_history.front().stamp = stamp;
+     174         205 :       m_history.front().predict_model = model;
+     175         205 :     }
+     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         105 :     std::enable_if_t<check> addInputChange(const u_t& u, [[maybe_unused]] const ros::Time& stamp, const ModelPtr& model = nullptr)
+     221             :     {
+     222         105 :       if (m_history.empty())
+     223           0 :         m_history.push_back({stamp});
+     224         105 :       m_history.front().u = u;
+     225         105 :       m_history.front().stamp = stamp;
+     226         105 :       m_history.front().predict_model = model;
+     227         105 :     }
+     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         640 :       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        4264 :       void updateUsing(const info_t& info)
+     431             :       {
+     432        4264 :         u = info.u;
+     433        4264 :         Q = info.Q;
+     434        4264 :         predict_model = info.predict_model;
+     435        4264 :       };
+     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        2032 :     static bool earlier(const info_t& ob1, const info_t& ob2)
+     526             :     {
+     527        2032 :       return ob1.stamp < ob2.stamp;
+     528             :     }
+     529             :     //}
+     530             : 
+     531             :     /* predictFrom() method //{ */
+     532       15000 :     statecov_t predictFrom(const statecov_t& sc, const info_t& inpt, const ros::Time& from_stamp, const ros::Time& to_stamp)
+     533             :     {
+     534       30000 :       const auto model = inpt.predict_model == nullptr ? m_default_model : inpt.predict_model;
+     535       15000 :       const auto dt = (to_stamp - from_stamp).toSec();
+     536       30000 :       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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Date:2023-12-06 10:06:33Functions:040.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.h +
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polygon.h +
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+ 		0.0 %0 / 60.0 %0 / 3
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/index.html b/mrs_lib/include/mrs_lib/safety_zone/index.html new file mode 100644 index 0000000000..dea3f7aa43 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:080.0 %
Date:2023-12-06 10:06:33Functions:040.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
polygon.h +
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safety_zone.h +
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+ 		0.0 %0 / 20.0 %0 / 1
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func-sort-c.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func-sort-c.html new file mode 100644 index 0000000000..48d9237646 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - polygon.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:060.0 %
Date:2023-12-06 10:06:33Functions:030.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::ExtraVertices::what() const0
mrs_lib::Polygon::WrongNumberOfColumns::what() const0
mrs_lib::Polygon::WrongNumberOfVertices::what() const0
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func.html new file mode 100644 index 0000000000..003fc627ac --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - polygon.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:060.0 %
Date:2023-12-06 10:06:33Functions:030.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::ExtraVertices::what() const0
mrs_lib::Polygon::WrongNumberOfColumns::what() const0
mrs_lib::Polygon::WrongNumberOfVertices::what() const0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.frameset.html new file mode 100644 index 0000000000..8b592d08da --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.html new file mode 100644 index 0000000000..a289a0cdf9 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.html @@ -0,0 +1,136 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - polygon.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:060.0 %
Date:2023-12-06 10:06:33Functions:030.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : #ifndef MRS_LIB_POLYGON_H
+       3             : #define MRS_LIB_POLYGON_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : #include <eigen3/Eigen/Eigen>
+       7             : #include <vector>
+       8             : #include <geometry_msgs/Point.h>
+       9             : #include <mrs_lib/safety_zone/line_operations.h>
+      10             : 
+      11             : namespace mrs_lib
+      12             : {
+      13             : class Polygon {
+      14             : public:
+      15             :   Polygon(const Eigen::MatrixXd vertices);
+      16             : 
+      17             :   bool isPointInside(const double px, const double py);
+      18             :   bool doesSectionIntersect(const double startX, const double startY, const double endX, const double endY);
+      19             :   bool isClockwise();
+      20             :   void inflateSelf(double amount);
+      21             : 
+      22             :   std::vector<geometry_msgs::Point> getPointMessageVector(const double z);
+      23             : 
+      24             : private:
+      25             :   Eigen::MatrixXd vertices;
+      26             : 
+      27             : public:
+      28             :   // exceptions
+      29             :   struct WrongNumberOfVertices : public std::exception
+      30             :   {
+      31           0 :     const char* what() const throw() {
+      32           0 :       return "Polygon: wrong number of vertices was supplied!";
+      33             :     }
+      34             :   };
+      35             : 
+      36             :   struct WrongNumberOfColumns : public std::exception
+      37             :   {
+      38           0 :     const char* what() const throw() {
+      39           0 :       return "Polygon: wrong number of colums, it should be =2!";
+      40             :     }
+      41             :   };
+      42             : 
+      43             :   struct ExtraVertices : public std::exception
+      44             :   {
+      45           0 :     const char* what() const throw() {
+      46           0 :       return "Polygon: useless vertices detected, polygon methods may break!";
+      47             :     }
+      48             :   };
+      49             : };
+      50             : }  // namespace mrs_lib
+      51             : 
+      52             : #endif  // MRS_LIB_POLYGON_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html new file mode 100644 index 0000000000..3a568cf9a5 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html @@ -0,0 +1,33 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.png b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..69c6e8249f4419ea60e73f57611e818597436175 GIT binary patch literal 337 zcmeAS@N?(olHy`uVBq!ia0vp^0YGfR!VDzeM=iPpq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?X?_wfUrhg7-aL978-h&xUsL9#P=QHuETJ;yv_l zwT!=jKeuP;+m|{aEh%#nda48j6jdK=WDT9?W-5Hv!)wCVGcHRjR9F4&?V8P&wrH0l zYv;tQ{4dKZToN)kHmM>qTYD`~>&gdj!ff zE*HJCIw^nk`X48Z_Xu(sh{@jPaWKwMisF9|!!gJGLnX`mbpoC13bZDEZu)%9qTFR) zh=ryc|B=)~3H(aB&40A3ZBDmKf0Tc7Q$_t@YPE{xr-x#T&EFW_?r3;s-?6d8WIJoo b+20JO`5O;uuKc40^eTg=tDnm{r-UW|8XSfQ literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func-sort-c.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func-sort-c.html new file mode 100644 index 0000000000..590d95f799 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func-sort-c.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - safety_zone.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:020.0 %
Date:2023-12-06 10:06:33Functions:010.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::BorderError::what() const0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func.html new file mode 100644 index 0000000000..ba14b34c55 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - safety_zone.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:020.0 %
Date:2023-12-06 10:06:33Functions:010.0 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::BorderError::what() const0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.frameset.html new file mode 100644 index 0000000000..b372dc445a --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.html new file mode 100644 index 0000000000..d0a2c771ae --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.html @@ -0,0 +1,121 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - safety_zone.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:020.0 %
Date:2023-12-06 10:06:33Functions:010.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : #ifndef MRS_LIB_SAFETYZONE_H
+       3             : #define MRS_LIB_SAFETYZONE_H
+       4             : 
+       5             : #include <mrs_lib/safety_zone/polygon.h>
+       6             : #include <visualization_msgs/Marker.h>
+       7             : #include <eigen3/Eigen/Eigen>
+       8             : #include <vector>
+       9             : 
+      10             : namespace mrs_lib
+      11             : {
+      12             : class SafetyZone {
+      13             : public:
+      14             :   SafetyZone(Polygon outerBorder);
+      15             :   ~SafetyZone();
+      16             : 
+      17             :   SafetyZone(const Eigen::MatrixXd& outerBorderMatrix);
+      18             : 
+      19             :   bool isPointValid(const double px, const double py);
+      20             :   bool isPathValid(const double p1x, const double p1y, const double p2x, const double p2y);
+      21             : 
+      22             :   Polygon getBorder();
+      23             : 
+      24             : private:
+      25             :   Polygon* outerBorder;
+      26             : 
+      27             : public:
+      28             :   struct BorderError : public std::exception
+      29             :   {
+      30           0 :     const char* what() const throw() {
+      31           0 :       return "SafeZone: Wrong configuration for the border";
+      32             :     }
+      33             :   };
+      34             : };
+      35             : }  // namespace mrs_lib
+      36             : 
+      37             : #endif  // MRS_LIB_SAFETYZONE_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.overview.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.overview.html new file mode 100644 index 0000000000..20ffd7de34 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.overview.html @@ -0,0 +1,30 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.png b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..1b39b2911483785bd7a8e252290372648cd02641 GIT binary patch literal 280 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$E!VDzUFBHE4QW60^A+G=b|6c_J%iqVwzWUF= zunH&+rp|e9UJ7J$7I;J!GcfQS0b$0e+I-SL!DXH$Xhoi1$?<^|$XXd{aqZ z@a?+Nrut{KJqP__-W)l)eS=`_BawZ+ioN1V8Co_XvbSaKZg6;E-mvA~rPO(wMHgk6 VNwG-e^8j7U;OXk;vd$@?2>?zzaFhT5 literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.func-sort-c.html b/mrs_lib/include/mrs_lib/scope_timer.h.func-sort-c.html new file mode 100644 index 0000000000..575f8b4b0e --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - scope_timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2633.3 %
Date:2023-12-06 10:06:33Functions:1333.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ScopeTimerLogger::loggingEnabled()0
mrs_lib::ScopeTimerLogger::shouldLog()0
mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1846187
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.func.html b/mrs_lib/include/mrs_lib/scope_timer.h.func.html new file mode 100644 index 0000000000..06dfea48e9 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - scope_timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2633.3 %
Date:2023-12-06 10:06:33Functions:1333.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1846187
mrs_lib::ScopeTimerLogger::loggingEnabled()0
mrs_lib::ScopeTimerLogger::shouldLog()0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.frameset.html new file mode 100644 index 0000000000..bb60579787 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.html b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.html new file mode 100644 index 0000000000..5c223556c8 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.html @@ -0,0 +1,248 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib - scope_timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2633.3 %
Date:2023-12-06 10:06:33Functions:1333.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file
+       2             :  *   \brief Simple timer which times a duration of its scope, with additional optional checkpoints.
+       3             :  *   \author Daniel Hert - hertdani@fel.cvut.cz
+       4             :  */
+       5             : #ifndef SCOPE_TIMER_H
+       6             : #define SCOPE_TIMER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <chrono>
+      10             : #include <iostream>
+      11             : #include <fstream>
+      12             : #include <iomanip>
+      13             : #include <mutex>
+      14             : /* #include <ctime> */
+      15             : 
+      16             : namespace mrs_lib
+      17             : {
+      18             : 
+      19             : /*//{ ScopeTimerLogger class */
+      20             : 
+      21             : /**
+      22             :  * @brief Simple file logger of scope timer and its checkpoints
+      23             :  */
+      24             : class ScopeTimerLogger {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief The basic constructor with a user-defined path to the logger file, enable flag and float-logging precision
+      29             :    */
+      30             :   ScopeTimerLogger(const std::string& logfile, const bool enable_logging = true, const int log_precision = 10);
+      31             : 
+      32             :   /**
+      33             :    * @brief The basic destructor which closes the logging file
+      34             :    */
+      35             :   ~ScopeTimerLogger();
+      36             : 
+      37             :   /**
+      38             :    * @brief Returns true if a non-empty path to a logger file was given by the user
+      39             :    */
+      40           0 :   bool shouldLog() {
+      41           0 :     return _should_log_;
+      42             :   }
+      43             : 
+      44             :   /**
+      45             :    * @brief Returns true if the enable flag was set to true, a non-empty path to a logger file was given by the user and the logger file stream was successfully
+      46             :    * opened.
+      47             :    */
+      48           0 :   bool loggingEnabled() {
+      49           0 :     return _logging_enabled_;
+      50             :   }
+      51             : 
+      52             :   /**
+      53             :    * @brief Returns the path to the log.
+      54             :    */
+      55             :   std::string getLogFilepath() {
+      56             :     return _log_filepath_;
+      57             :   }
+      58             : 
+      59             :   using chrono_tp = std::chrono::time_point<std::chrono::steady_clock>;
+      60             : 
+      61             :   /**
+      62             :    * @brief Writes the time data of the given scope and empty checkpoints into the logger stream.
+      63             :    */
+      64             :   void log(const std::string& scope, const chrono_tp& time_start, const chrono_tp& time_end);
+      65             : 
+      66             :   /**
+      67             :    * @brief Writes the time data of the given scope and checkpoint labels into the logger stream.
+      68             :    */
+      69             :   void log(const std::string& scope, const std::string& label_from, const std::string& label_to, const chrono_tp& time_start, const chrono_tp& time_end);
+      70             : 
+      71             : private:
+      72             :   bool          _logging_enabled_ = false;
+      73             :   bool          _should_log_      = false;
+      74             :   std::string   _log_filepath_;
+      75             :   std::ofstream _logstream_;
+      76             :   std::mutex    _mutex_logstream_;
+      77             : };
+      78             : 
+      79             : /*//}*/
+      80             : 
+      81             : /**
+      82             :  * @brief Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and std::chrono time.
+      83             :  */
+      84             : class ScopeTimer {
+      85             : public:
+      86             :   /* time_point() helper struct //{ */
+      87             :   struct time_point
+      88             :   {
+      89             :     using chrono_tp = std::chrono::time_point<std::chrono::steady_clock>;
+      90             : 
+      91             :   public:
+      92     1846187 :     time_point(const std::string& label) : ros_time(ros::Time::now()), chrono_time(std::chrono::steady_clock::now()), label(label) {
+      93     1846087 :     }
+      94             : 
+      95             :     time_point(const std::string& label, const ros::Time& ros_time) : ros_time(ros_time), label(label) {
+      96             :       // helper types to make the code slightly more readable
+      97             :       using float_seconds   = std::chrono::duration<float>;
+      98             :       using chrono_duration = std::chrono::steady_clock::duration;
+      99             :       // prepare ros and chrono current times to minimize their difference
+     100             :       const auto ros_now    = ros::Time::now();
+     101             :       const auto chrono_now = std::chrono::steady_clock::now();
+     102             :       // calculate how old is ros_time
+     103             :       const auto ros_dt = ros_now - ros_time;
+     104             :       // cast ros_dt to chrono type
+     105             :       const auto chrono_dt = std::chrono::duration_cast<chrono_duration>(float_seconds(ros_dt.toSec()));
+     106             :       // calculate ros_time in chrono time and set it to chrono_time
+     107             :       chrono_time = chrono_now - chrono_dt;
+     108             :     }
+     109             : 
+     110             :     ros::Time   ros_time;
+     111             :     chrono_tp   chrono_time;
+     112             :     std::string label;
+     113             :   };
+     114             :   //}
+     115             : 
+     116             : public:
+     117             :   /**
+     118             :    * @brief The basic constructor with a user-defined label of the timer, throttled period and file logger.
+     119             :    */
+     120             :   ScopeTimer(const std::string& label, const ros::Duration& throttle_period = ros::Duration(0), const bool enable = true,
+     121             :              const std::shared_ptr<ScopeTimerLogger> scope_timer_logger = nullptr);
+     122             : 
+     123             :   /**
+     124             :    * @brief The basic constructor with a user-defined label of the timer and a pre-start time, which will also be measured.
+     125             :    */
+     126             :   ScopeTimer(const std::string& label, const time_point& tp0, const ros::Duration& throttle_period = ros::Duration(0), const bool enable = true,
+     127             :              const std::shared_ptr<ScopeTimerLogger> scope_timer_logger = nullptr);
+     128             : 
+     129             :   /**
+     130             :    * @brief The basic constructor with a user-defined label of the timer and file logger.
+     131             :    */
+     132             :   ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable = true);
+     133             : 
+     134             :   /**
+     135             :    * @brief Checkpoint, prints the time passed until the point this function is called.
+     136             :    */
+     137             :   void checkpoint(const std::string& label);
+     138             : 
+     139             :   /**
+     140             :    * @brief Getter for scope timer lifetime
+     141             :    *
+     142             :    * @return lifetime as floating point milliseconds
+     143             :    */
+     144             :   float getLifetime();
+     145             : 
+     146             :   /**
+     147             :    * @brief The basic destructor which prints out or logs the scope times, if enabled.
+     148             :    */
+     149             :   ~ScopeTimer();
+     150             : 
+     151             : private:
+     152             :   std::string             _timer_label_;
+     153             :   bool                    _enable_print_or_log;
+     154             :   ros::Duration           _throttle_period_;
+     155             :   std::vector<time_point> checkpoints;
+     156             : 
+     157             :   std::shared_ptr<ScopeTimerLogger> _logger_ = nullptr;
+     158             : 
+     159             :   static std::unordered_map<std::string, ros::Time> last_print_times;
+     160             : };
+     161             : 
+     162             : }  // namespace mrs_lib
+     163             : 
+     164             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.overview.html b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.overview.html new file mode 100644 index 0000000000..82f8580772 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.overview.html @@ -0,0 +1,61 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.png b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d57ab8c0703ba94fdd794b60b6475e555513d985 GIT binary patch literal 777 zcmV+k1NQuhP)<}7j3 zxrRs>_JFGeLNsPr?+Qn&IfG`S=o<3?vJ)hU zjAZ~dhqBB;Jj)NpJoctB;8UAh9a`dqF$4OxIgSP-PXv;_1F;fDX6CW)&;6w5qe17B@U0r+Y6Q1l9h?T!Z=(6(!i`f=Z1Ee9liJg|S=kHM1_;Lw^erM{3NIurD< zjRu378I8)E*k~ZS9J4GuCF1Z?RNL{#nRt26U&cbf5JiYA(~Lam@z zr^t`RCZ%smU>U`(w)(it^w$NeAqx5rR{-KsMk + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - service_client_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33100.0 %
Date:2023-12-06 10:06:33Functions:2222100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::~ServiceClientHandler_impl()2
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()47
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()47
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()47
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::ServiceClientHandler()64
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::~ServiceClientHandler_impl()64
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()94
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()94
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()94
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()96
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()96
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::~ServiceClientHandler()128
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()192
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()370
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()372
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()635
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()637
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()740
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()1223
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.func.html b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html new file mode 100644 index 0000000000..0fd13213a0 --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html @@ -0,0 +1,168 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - service_client_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33100.0 %
Date:2023-12-06 10:06:33Functions:2222100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()47
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()94
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()47
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()94
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()47
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()94
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::ServiceClientHandler()64
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::~ServiceClientHandler()128
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()96
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()192
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()370
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()740
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()637
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()1223
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()47
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::~ServiceClientHandler_impl()64
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()96
mrs_lib::ServiceClientHandler_impl<mrs_msgs::PathSrv>::~ServiceClientHandler_impl()2
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()372
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()635
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.frameset.html new file mode 100644 index 0000000000..6bee985b3e --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html new file mode 100644 index 0000000000..1067480dc8 --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html @@ -0,0 +1,327 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - service_client_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33100.0 %
Date:2023-12-06 10:06:33Functions:2222100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Defines ServiceClientHandler and related convenience classes for upgrading the ROS service client
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef SERVICE_CLIENT_HANDLER_H
+       6             : #define SERVICE_CLIENT_HANDLER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <ros/package.h>
+      10             : 
+      11             : #include <string>
+      12             : #include <future>
+      13             : #include <mutex>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             : 
+      18             : /* class ServiceClientHandler_impl //{ */
+      19             : 
+      20             : /**
+      21             :  * @brief implementation of the service client handler
+      22             :  */
+      23             : template <class ServiceType>
+      24             : class ServiceClientHandler_impl {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief default constructor
+      29             :    */
+      30             :   ServiceClientHandler_impl(void);
+      31             : 
+      32             :   /**
+      33             :    * @brief default destructor
+      34             :    */
+      35        1316 :   ~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        1310 :   ServiceClientHandler(void){};
+     135             : 
+     136             :   /**
+     137             :    * @brief generic destructor
+     138             :    */
+     139        2577 :   ~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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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - subscribe_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:394979.6 %
Date:2023-12-06 10:06:33Functions:35269750.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcTfToWorld<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfMappingOrigin>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfMappingOrigin>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)2
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)2
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<Tester>(mrs_lib::SubscribeHandlerOptions const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)2
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const2
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const3
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::stop()5
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*)5
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*)5
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*)5
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*)5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::lastMsgTime() const5
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()() const5
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()() const5
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::start()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)6
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()7
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&)7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)7
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::start()8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler()8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >&&)8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const8
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)9
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()() const9
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()14
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::~SubscribeHandler()16
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() const21
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()41
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&)41
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>*)41
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>*)41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)41
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>*)41
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>*)41
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()() const41
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()() const41
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>*)42
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>*)42
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>*)42
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>*)42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const42
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()() const42
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()() const42
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&)44
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>*)44
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*)44
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>*)44
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*)44
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*)44
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*)44
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*)44
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*)44
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&)44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()44
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&)44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()44
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&)44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)44
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()() const44
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()() const44
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()() const44
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()() const44
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()() const44
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()() const44
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()() const44
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*)45
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*)45
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()() const45
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*)47
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*)47
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*)47
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*)47
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&)47
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*)47
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*)47
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*)47
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*)47
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*)47
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*)47
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*)47
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*)47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)47
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*)47
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*)47
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*)47
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*)47
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*)47
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*)47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::topicName[abi:cxx11]() const47
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const47
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const47
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)::{lambda()#1}::operator()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
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()() const47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const49
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&)50
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()() const50
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)51
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()() const51
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()() const51
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()() const51
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const53
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const57
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&)84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()88
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()88
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()91
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&)91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)91
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&)92
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()() const92
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()94
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&)94
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()94
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)94
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()94
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&)94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()94
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&)94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()94
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&)94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::lastMsgTime() const94
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()() const94
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()96
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()102
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()102
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()103
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&)103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)103
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()134
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&)134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)134
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&)141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()141
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&)141
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&)141
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()() const141
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()() const141
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()146
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&)146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)146
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()147
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()174
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler()174
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~SubscribeHandler()174
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::SubscribeHandler()174
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()174
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()175
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&)175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()175
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&)175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)175
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()() const175
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()177
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()181
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&)181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()183
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()185
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()188
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&)188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)188
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()188
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()188
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()206
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::~SubscribeHandler()215
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()221
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const221
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()227
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&)227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)227
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()227
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()234
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()235
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()236
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&)236
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&)236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)236
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()() const236
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const250
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const250
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()259
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()262
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()283
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&)283
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&)283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)283
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()() const283
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()350
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()364
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()367
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()376
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()396
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()468
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()477
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()513
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()562
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()578
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()805
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const1048
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()1183
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const2835
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()9877
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const9877
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const12227
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const14723
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()16097
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()18560
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const19763
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const30833
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()49780
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const49780
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()49856
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::lastMsgTime() const66349
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const75878
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const75975
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const93675
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::lastMsgTime() const94939
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const101624
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()124835
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()142362
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const145627
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()217700
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const270837
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()1458730496
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html new file mode 100644 index 0000000000..5848375633 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html @@ -0,0 +1,2868 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - subscribe_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:394979.6 %
Date:2023-12-06 10:06:33Functions:35269750.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()181
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&)181
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()183
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*)47
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*)47
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*)45
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>*)42
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*)47
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*)47
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*)45
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>*)42
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()364
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)181
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()94
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&)94
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()94
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&)47
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*)47
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*)47
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()188
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)94
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()41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()477
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&)41
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()174
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>*)41
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>*)41
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()215
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)41
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()174
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()174
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()88
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()96
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&)84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()175
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>*)41
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>*)42
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>*)41
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>*)42
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()259
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)84
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()134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()49856
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&)134
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()262
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&)44
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>*)44
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)2
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)44
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>*)44
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)2
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::HdgPassthrough>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)44
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()396
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)134
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()227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()217700
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&)227
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()578
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&)92
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*)47
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*)44
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*)44
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*)47
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*)44
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*)44
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()805
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)227
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()174
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()174
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()103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()147
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&)103
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()103
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&)51
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*)47
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*)5
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*)47
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*)5
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()206
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)103
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()91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()49780
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&)91
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()94
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&)44
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()185
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)91
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()175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()124835
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&)175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()175
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&)175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()350
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)175
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()188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()16097
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&)188
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()188
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&)141
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()376
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)188
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()47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()177
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)47
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()44
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&)44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()44
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&)44
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()88
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)44
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()47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)47
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()47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)47
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)47
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()141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()141
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&)141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()94
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&)141
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()235
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)94
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()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)47
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()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)47
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()47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)47
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()283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()18560
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&)283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)283
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()562
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)283
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()9
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&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()18
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)9
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()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()102
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)51
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()7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()1
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&)7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()7
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)5
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*)5
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()14
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)7
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()47
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&)47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()94
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)47
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()236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()1458730496
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&)236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()234
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&)236
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)236
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()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()51
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&)51
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()102
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)51
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::start()6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()42
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()221
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()227
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)6
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()0
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&)94
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()94
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*)47
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*)47
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*)47
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*)47
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()188
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)94
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()146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()142362
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&)146
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()367
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<Tester>(mrs_lib::SubscribeHandlerOptions const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)2
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)50
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)2
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)47
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*)47
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*)47
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*)47
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()513
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)146
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::start()8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler()8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::~SubscribeHandler()16
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >&&)8
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()94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()9877
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&)94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()94
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&)94
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()188
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)94
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()1183
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const1048
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() const12227
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() const101624
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() const270837
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]() const53
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() const94
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const100
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const49780
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() const94939
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() const145627
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() const19763
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const2
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const221
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]() const47
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() const49
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() const30833
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() const2835
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() const47
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const250
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() const21
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() const75975
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]() const57
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const47
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const250
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const42
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() const66349
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const75878
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() const93675
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const3
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const9877
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const14723
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()() const47
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()() const47
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()() const45
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()() const42
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()() const47
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()() const47
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()() const41
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()() const41
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()() const42
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()() const44
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()() const44
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)::{lambda()#1}::operator()() const44
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()() const92
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()() const47
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()() const44
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()() const44
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()() const51
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()() const47
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()() const5
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()() const44
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()() const47
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()() const175
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()() const141
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()() const47
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()() const47
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()() const44
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()() const47
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()() const47
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const47
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()() const141
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()() const47
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()() const47
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()() const47
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()() const283
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const9
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()() const51
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)::{lambda()#1}::operator()() const5
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()() const47
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()() const236
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()() const51
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<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()() const47
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()() const47
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()() const50
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)::{lambda()#1}::operator()() const47
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()() const47
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const8
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()() const94
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+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.frameset.html new file mode 100644 index 0000000000..9acc9fca74 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.html new file mode 100644 index 0000000000..749e2d6f97 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.html @@ -0,0 +1,548 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - subscribe_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:394979.6 %
Date:2023-12-06 10:06:33Functions:35269750.5 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines SubscribeHandler and related convenience classes for subscribing to ROS topics.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef SUBRSCRIBE_HANDLER_H
+       8             : #define SUBRSCRIBE_HANDLER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : #include <mrs_lib/timeout_manager.h>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   static const ros::Duration no_timeout = ros::Duration(0);
+      17             : 
+      18             :   /* struct SubscribeHandlerOptions //{ */
+      19             :   
+      20             :   /**
+      21             :   * \brief A helper class to simplify setup of SubscribeHandler construction.
+      22             :   * This class is passed to the SubscribeHandler constructor and specifies its common options.
+      23             :   *
+      24             :   * \note Any option, passed directly to the SubscribeHandler constructor outside this structure, *OVERRIDES* values in this structure.
+      25             :   * The values in this structure can be thought of as default common values for all SubscribeHandler objects you want to create,
+      26             :   * and values passed directly to the constructor as specific options for the concrete handler.
+      27             :   *
+      28             :   */
+      29             :   struct SubscribeHandlerOptions
+      30             :   {
+      31             :     SubscribeHandlerOptions(const ros::NodeHandle& nh) : nh(nh) {}
+      32        1185 :     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  1459360646 :       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      750133 :       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      145627 :       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      171358 :       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         160 :       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        2868 :       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        4307 :       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        2864 :       SubscribeHandler(
+     199             :             const SubscribeHandlerOptions& options,
+     200             :             const std::string& topic_name,
+     201             :             Types ... args
+     202             :           )
+     203             :       :
+     204             :         SubscribeHandler(
+     205        2864 :             [options, topic_name]()
+     206             :             {
+     207        5728 :               SubscribeHandlerOptions opts = options;
+     208        2864 :               opts.topic_name = topic_name;
+     209        5728 :               return opts;
+     210             :             }(),
+     211             :             args...
+     212        2868 :             )
+     213             :       {
+     214        2864 :       }
+     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        2864 :       SubscribeHandler(
+     224             :             const SubscribeHandlerOptions& options,
+     225             :             const message_callback_t& message_callback = {}
+     226             :           )
+     227        2864 :       {
+     228        2864 :         if (options.threadsafe)
+     229             :         {
+     230        2864 :           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        2864 :         if (options.autostart)
+     245        2863 :           start();
+     246        2864 :       };
+     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        1159 :       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        2318 :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     324             :             args...
+     325        1159 :             )
+     326             :       {
+     327        1159 :       }
+     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        7169 :       ~SubscribeHandler() = default;
+     414             :       // delete copy constructor and assignment operator (forbid copying shandlers)
+     415             :       SubscribeHandler(const SubscribeHandler&) = delete;
+     416             :       SubscribeHandler& operator=(const SubscribeHandler&) = delete;
+     417             :       // define only move constructor and assignemnt operator
+     418           0 :       SubscribeHandler(SubscribeHandler&& other)
+     419           0 :       {
+     420           0 :         this->m_pimpl = std::move(other.m_pimpl);
+     421           0 :         other.m_pimpl = nullptr;
+     422           0 :       }
+     423        2817 :       SubscribeHandler& operator=(SubscribeHandler&& other)
+     424             :       {
+     425        2817 :         this->m_pimpl = std::move(other.m_pimpl);
+     426        2817 :         other.m_pimpl = nullptr;
+     427        2817 :         return *this;
+     428             :       }
+     429             : 
+     430             :     private:
+     431             :       class Impl;
+     432             :       class ImplThreadsafe;
+     433             :       std::unique_ptr<Impl> m_pimpl;
+     434             :   };
+     435             :   //}
+     436             : 
+     437             : /*!
+     438             :   * \brief Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr.
+     439             :   */
+     440             :   template<typename SubscribeHandler>
+     441             :   using message_type = typename SubscribeHandler::message_type;
+     442             : 
+     443             : /*!
+     444             :   * \brief Helper function for object construstion e.g. in case of member objects.
+     445             :   * This function is useful to avoid specifying object template parameters twice - once in definition of the variable and second time during object construction.
+     446             :   * This function can deduce the template parameters from the type of the already defined object, because it returns the newly constructed object as a reference
+     447             :   * argument and not as a return type.
+     448             :   *
+     449             :   * \param object The object to be constructed.
+     450             :   * \param args   These arguments are passed to the object constructor.
+     451             :   */
+     452             :   template<typename Class, class ... Types>
+     453             :   void construct_object(
+     454             :         Class& object,
+     455             :         Types ... args
+     456             :       )
+     457             :   {
+     458             :     object = Class(args...);
+     459             :   }
+     460             : }
+     461             : 
+     462             : #include <mrs_lib/impl/subscribe_handler.hpp>
+     463             : 
+     464             : #endif // SUBRSCRIBE_HANDLER_H
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.overview.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.overview.html new file mode 100644 index 0000000000..056386c498 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.overview.html @@ -0,0 +1,136 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.png b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..4fbffc4bc0b89a8b74c7423122e9f29b5abf23f7 GIT binary patch literal 1794 zcmV+d2mSboP)GAf72gj3K5r zbz2ND5}}4FQEmJ-0qHg3YyO-C@r%I16(bOAcI{2~uIrUq&|?~*Fbke#KB6~6I8Vnr z*#`C}y~&UtGp8aqYx(}~$v#>;vYCZ!J|t)Of*?k(LiRez2b~a-7TcQx@sJ(OR zSq>>wvJ`~KR`Ok-ZVp=~gM8B6WXF=d4O(*_&BL&Z@Q&A3jZ={@1qCG!No<}!R9n~W zb*{9j_GML&O^1ys1CB351|2_`Jt2(&lZCYg(hT|2F^wA_6OB9MF{bcvYuq&&R7fFo zsE;bOL1Kh32wTn^>m!tz668ytM&>Z-6K5u6q!$AOc%jcH>3fS({;hPmwMn+C2MvDs~C)tCPOw1-3bupJYJgBin5(kdU98OtK zN-*pu2VTAz1vBYHiE0uiLlN>kL#(mA6FXs73unw;3sz_yc$`3{Fzh2wZJ5Y%O{q?O z6g)UZIm3|l&g)}FbThr1oSPcWrg26f^YA!E?wTS*9S^FU0fyKGkEa3RWj`QnTtj@P)_8$ z2uGra;0+aAu({!p*B^pM3f2OmBou>R#tqPAJ6&N4mRxM#Slrw2_gpYNmF=GG1RVEwfr_%69B zg1?$lN=5+@BubI(e|^i#a1Wu_TKJigkY$BZh;SQ%asVCl1<+MtJ#PXHO}{QliD=<% z>z+eDCe1n-oV|-Sf6kQh2wK~lq+XMx=F1AC21)TJ)y+ReQUejf z5dmCx>)nM`Fd{f87~WNiSz{ifA0U9gK`C-_jAmQh!l`dlDolYY8-l7ng5m-SbGmz7 z44N9nFSo{o#1MJo;|=zwAUudO%yjXuR8o)D(idg)oLq95htT!Ji>bW~y~$N6c$RxX$#k;(w-iXq@Ae&+a*xjc`l|iCimSGlp%iNo zmj%`H0P#WN3-4Y}mr+V7)im&1D8-{wa=#<^7t(cByX);opz)k*;UC3quL~auEb4Dl zT8W&D=)Uv(kGprIXeCG~98fOQqBoytmhDzK)|^ZSnsoSydTxc*kzh}w&9oYs-BI^a zEccy<@w;P`+MdpX;7H>#+JCV3(b3E~J&o67TF}BN65#E%=;WdLvuEMMj|@=G@{dDt z7s6i(_s=}DAT6RH?&c*ky_O0Ocuh4s@m0V-oOQ8qpvR6G9r_vpQ-Xn1^1rHIdE#T$ zNdSM|*$f}QGq@uJE&QmM;VK4iP#ZP~q}8+@>&_WhvDa%+3KqE^Ej{*I0#9i?y$G-T kuY(Tel-8&otZ%#hAJepWR?y0d2mk;807*qoM6N<$f{w&dzW@LL literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/timeout_manager.h.func-sort-c.html b/mrs_lib/include/mrs_lib/timeout_manager.h.func-sort-c.html new file mode 100644 index 0000000000..faa2d78b50 --- /dev/null +++ b/mrs_lib/include/mrs_lib/timeout_manager.h.func-sort-c.html @@ -0,0 +1,80 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/timeout_manager.h - functions + + + + + + + + + + + + + + +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief TODO
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef TIMEOUT_MANAGER_H
+       8             : #define TIMEOUT_MANAGER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             :   /* TimeoutManager class //{ */
+      15             :   /**
+      16             :   * \brief TODO
+      17             :   *
+      18             :   */
+      19           0 :   class TimeoutManager
+      20             :   {
+      21             :     public:
+      22             :       // | ---------------------- public types ---------------------- |
+      23             :       using timeout_id_t = size_t;
+      24             :       using callback_t = std::function<void(const ros::Time&)>;
+      25             : 
+      26             :     public:
+      27             :       // | --------------------- public methods --------------------- |
+      28             : 
+      29             :     /*!
+      30             :       * \brief TODO
+      31             :       *
+      32             :       */
+      33             :       TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate);
+      34             : 
+      35           2 :       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        2317 :       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           6 :       void start(const timeout_id_t id, const ros::Time& time = ros::Time::now());
+      42             : 
+      43             :       void pauseAll();
+      44             : 
+      45           2 :       void startAll(const ros::Time& time = ros::Time::now());
+      46             : 
+      47             :       void change(const timeout_id_t id, const ros::Duration& timeout, const callback_t& callback, const ros::Time& last_reset = ros::Time::now(), const bool oneshot = false, const bool autostart = true);
+      48             : 
+      49             :       ros::Time lastReset(const timeout_id_t id);
+      50             : 
+      51             :       bool started(const timeout_id_t id);
+      52             : 
+      53             :       /* implementation details //{ */
+      54             :       
+      55             :       private:
+      56             :         // | ---------------------- private types --------------------- |
+      57           0 :         struct timeout_info_t
+      58             :         {
+      59             :           bool oneshot;
+      60             :           bool started;
+      61             :           callback_t callback;
+      62             :           ros::Duration timeout;
+      63             :           ros::Time last_reset;
+      64             :           ros::Time last_callback;
+      65             :         };
+      66             :       
+      67             :       private:
+      68             :         // | --------------------- private methods -------------------- |
+      69             :         void main_timer_callback([[maybe_unused]] const ros::TimerEvent& evt);
+      70             :       
+      71             :       private:
+      72             :         // | ------------------------- members ------------------------ |
+      73             :         std::recursive_mutex m_mtx;
+      74             :         timeout_id_t m_last_id;
+      75             :         std::vector<timeout_info_t> m_timeouts;
+      76             :       
+      77             :         ros::Timer m_main_timer;
+      78             :       
+      79             :       //}
+      80             : 
+      81             :   };
+      82             :   //}
+      83             : }
+      84             : 
+      85             : #endif // TIMEOUT_MANAGER_H
+
+
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::MRSTimer::~MRSTimer()0
mrs_lib::ThreadTimer::~ThreadTimer()8
mrs_lib::ThreadTimer::~ThreadTimer().28
mrs_lib::ROSTimer::~ROSTimer()8
mrs_lib::ROSTimer::~ROSTimer().28
mrs_lib::MRSTimer::MRSTimer()16
mrs_lib::MRSTimer::~MRSTimer().216
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mrs_lib::ThreadTimer::~ThreadTimer()8
mrs_lib::ThreadTimer::~ThreadTimer().28
mrs_lib::MRSTimer::MRSTimer()16
mrs_lib::MRSTimer::~MRSTimer()0
mrs_lib::MRSTimer::~MRSTimer().216
mrs_lib::ROSTimer::~ROSTimer()8
mrs_lib::ROSTimer::~ROSTimer().28
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+
          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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Test:MRS UAV System - Test coverage reportLines:516085.0 %
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Function Name Sort by function nameHit count Sort by hit count
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<geometry_msgs::Quaternion_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::Quaternion_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<geometry_msgs::Quaternion_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)1
std::optional<boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
std::optional<boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::inverse(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)153
mrs_lib::Transformer::retryLookupNewest(bool)189
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)123191
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)700053
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)700057
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)702167
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)702641
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&)703508
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - transformer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:516085.0 %
Date:2023-12-06 10:06:33Functions:141877.8 %
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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&)700053
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)702167
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)123191
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&)703508
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)153
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::retryLookupNewest(bool)189
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&)700057
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)702641
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_lib - transformer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:516085.0 %
Date:2023-12-06 10:06:33Functions:141877.8 %
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : /**  \file Implements the Transformer class - wrapper for ROS's TF2 lookups and transformations.
+       4             :  *   \brief A wrapper for easier work with tf2 transformations.
+       5             :  *   \author Tomas Baca - tomas.baca@fel.cvut.cz
+       6             :  *   \author Matouš Vrba - matous.vrba@fel.cvut.cz
+       7             :  */
+       8             : #ifndef TRANSFORMER_H
+       9             : #define TRANSFORMER_H
+      10             : 
+      11             : /* #define EIGEN_DONT_VECTORIZE */
+      12             : /* #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT */
+      13             : 
+      14             : /* includes //{ */
+      15             : 
+      16             : #include <ros/ros.h>
+      17             : 
+      18             : #include <tf2_ros/transform_listener.h>
+      19             : #include <tf2_ros/buffer.h>
+      20             : #include <tf2_eigen/tf2_eigen.h>
+      21             : #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+      22             : #include <tf/transform_datatypes.h>
+      23             : #include <tf_conversions/tf_eigen.h>
+      24             : 
+      25             : #include <mrs_msgs/ReferenceStamped.h>
+      26             : 
+      27             : #include <geometry_msgs/PoseStamped.h>
+      28             : #include <geometry_msgs/Vector3Stamped.h>
+      29             : #include <std_msgs/Header.h>
+      30             : 
+      31             : #include <mrs_lib/geometry/misc.h>
+      32             : 
+      33             : #include <pcl_ros/point_cloud.h>
+      34             : #include <pcl_ros/transforms.h>
+      35             : #include <pcl_conversions/pcl_conversions.h>
+      36             : 
+      37             : #include <mutex>
+      38             : #include <experimental/type_traits>
+      39             : 
+      40             : //}
+      41             : 
+      42             : namespace tf2
+      43             : {
+      44             : 
+      45             :   template <typename pt_t>
+      46             :   void doTransform(const pcl::PointCloud<pt_t>& cloud_in, pcl::PointCloud<pt_t>& cloud_out, const geometry_msgs::TransformStamped& transform)
+      47             :   {
+      48             :     pcl_ros::transformPointCloud(cloud_in, cloud_out, transform.transform);
+      49             :     pcl_conversions::toPCL(transform.header.stamp, cloud_out.header.stamp);
+      50             :     cloud_out.header.frame_id = transform.header.frame_id;
+      51             :   }
+      52             : 
+      53             : }  // namespace tf2
+      54             : 
+      55             : namespace mrs_lib
+      56             : {
+      57             : 
+      58             :   static const std::string UTM_ORIGIN = "utm_origin";
+      59             :   static const std::string LATLON_ORIGIN = "latlon_origin";
+      60             : 
+      61             :   /**
+      62             :    * \brief A convenience wrapper class for ROS's native TF2 API to simplify transforming of various messages.
+      63             :    *
+      64             :    * Implements optional automatic frame prefix deduction, seamless transformation lattitude/longitude coordinates and UTM coordinates, simple transformation of MRS messages etc.
+      65             :    */
+      66             :   /* class Transformer //{ */
+      67             : 
+      68             :   class Transformer
+      69             :   {
+      70             : 
+      71             :   public:
+      72             :     /* Constructor, assignment operator and overloads //{ */
+      73             : 
+      74             :     /**
+      75             :      * \brief A convenience constructor that doesn't initialize anything.
+      76             :      *
+      77             :      * This constructor is just to enable usign the Transformer as a member variable of nodelets etc.
+      78             :      * To actually initialize the class, use the alternative constructor.
+      79             :      *
+      80             :      * \note This constructor doesn't initialize the TF2 transform listener and all calls to the transformation-related methods of an object constructed using this method will fail.
+      81             :      */
+      82             :     Transformer();
+      83             : 
+      84             :     /**
+      85             :      * \brief The main constructor that actually initializes stuff.
+      86             :      *
+      87             :      * This constructor initializes the class and the TF2 transform listener.
+      88             :      *
+      89             :      * \param node_name   the name of the node running the transformer, is used in ROS prints. If you don't care, just set it to an empty string.
+      90             :      * \param cache_time  duration of the transformation buffer's cache into the past that will be kept.
+      91             :      */
+      92             :     Transformer(const std::string& node_name, const ros::Duration& cache_time = ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME));
+      93             : 
+      94             :     /**
+      95             :      * \brief The main constructor that actually initializes stuff.
+      96             :      *
+      97             :      * This constructor initializes the class and the TF2 transform listener.
+      98             :      *
+      99             :      * \param nh          the node handle to be used for subscribing to the transformations.
+     100             :      * \param node_name   the name of the node running the transformer, is used in ROS prints. If you don't care, just set it to an empty string.
+     101             :      * \param cache_time  duration of the transformation buffer's cache into the past that will be kept.
+     102             :      */
+     103             :     Transformer(const ros::NodeHandle& nh, const std::string& node_name = std::string(), const ros::Duration& cache_time = ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME));
+     104             : 
+     105             :     /**
+     106             :      * \brief A convenience move assignment operator.
+     107             :      *
+     108             :      * This operator moves all data from the object that is being assigned from, invalidating it.
+     109             :      *
+     110             :      * \param  other  the object to assign from. It will be invalid after this method returns.
+     111             :      * \return        a reference to the object being assigned to.
+     112             :      */
+     113             :     Transformer& operator=(Transformer&& other);
+     114             : 
+     115             :     //}
+     116             : 
+     117             :     // | ------------------ Configuration methods ----------------- |
+     118             : 
+     119             :     /* setDefaultFrame() //{ */
+     120             : 
+     121             :     /**
+     122             :      * \brief Sets the default frame ID to be used instead of any empty frame ID.
+     123             :      *
+     124             :      * If you call e.g. the transform() method with a message that has an empty header.frame_id field, this value will be used instead.
+     125             :      *
+     126             :      * \param frame_id the default frame ID. Use an empty string to disable default frame ID deduction.
+     127             :      *
+     128             :      * \note Disabled by default.
+     129             :      */
+     130      123191 :     void setDefaultFrame(const std::string& frame_id)
+     131             :     {
+     132      213484 :       std::scoped_lock lck(mutex_);
+     133      123184 :       default_frame_id_ = frame_id;
+     134      123187 :     }
+     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         153 :     void setDefaultPrefix(const std::string& prefix)
+     154             :     {
+     155         259 :       std::scoped_lock lck(mutex_);
+     156         153 :       if (prefix.empty())
+     157          48 :         prefix_ = "";
+     158             :       else
+     159         152 :         prefix_ = prefix + "/";
+     160         153 :     }
+     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         236 :     void retryLookupNewest(const bool retry = true)
+     212             :     {
+     213         283 :       std::scoped_lock lck(mutex_);
+     214         236 :       retry_lookup_newest_ = retry;
+     215         189 :     }
+     216             : 
+     217             :     //}
+     218             :     
+     219             :     /* beQuiet() //{ */
+     220             : 
+     221             :     /**
+     222             :      * \brief Enable/disable some prints that may be too noisy.
+     223             :      *
+     224             :      * \param quiet enables or disables quiet mode.
+     225             :      *
+     226             :      * \note Disabled by default.
+     227             :      */
+     228             :     void beQuiet(const bool quiet = true)
+     229             :     {
+     230             :       std::scoped_lock lck(mutex_);
+     231             :       quiet_ = quiet;
+     232             :     }
+     233             : 
+     234             :     //}
+     235             : 
+     236             :     /* resolveFrame() //{ */
+     237             :     /**
+     238             :      * \brief Deduce the full frame ID from a shortened or empty string using current default prefix and default frame rules.
+     239             :      *
+     240             :      * Example assuming default prefix is "uav1" and default frame is "uav1/gps_origin":
+     241             :      *   "" -> "uav1/gps_origin"
+     242             :      *   "local_origin" -> "uav1/local_origin"
+     243             :      *
+     244             :      * \param frame_id The frame ID to be resolved.
+     245             :      *
+     246             :      * \return The resolved frame ID.
+     247             :      */
+     248           6 :     std::string resolveFrame(const std::string& frame_id)
+     249             :     {
+     250          10 :       std::scoped_lock lck(mutex_);
+     251          12 :       return resolveFrameImpl(frame_id);
+     252             :     }
+     253             :     //}
+     254             : 
+     255             :     /* transformSingle() //{ */
+     256             : 
+     257             :     /**
+     258             :      * \brief Transforms a single variable to a new frame and returns it or \p std::nullopt if transformation fails.
+     259             :      *
+     260             :      * \param what the object to be transformed.
+     261             :      * \param to_frame the target frame ID.
+     262             :      *
+     263             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     264             :      */
+     265             :     template <class T>
+     266             :     [[nodiscard]] std::optional<T> transformSingle(const T& what, const std::string& to_frame);
+     267             : 
+     268             :     /**
+     269             :      * \brief Transforms a single variable to a new frame.
+     270             :      *
+     271             :      * A convenience override for shared pointers.
+     272             :      *
+     273             :      * \param what The object to be transformed.
+     274             :      * \param to_frame The target fram ID.
+     275             :      *
+     276             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     277             :      */
+     278             :     template <class T>
+     279           1 :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transformSingle(const boost::shared_ptr<T>& what, const std::string& to_frame)
+     280             :     {
+     281           1 :       return transformSingle(boost::shared_ptr<const T>(what), to_frame);
+     282             :     }
+     283             : 
+     284             :     /**
+     285             :      * \brief Transforms a single variable to a new frame.
+     286             :      *
+     287             :      * A convenience override for shared pointers to const.
+     288             :      *
+     289             :      * \param what The object to be transformed.
+     290             :      * \param to_frame The target fram ID.
+     291             :      *
+     292             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     293             :      */
+     294             :     template <class T>
+     295           1 :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transformSingle(const boost::shared_ptr<const T>& what, const std::string& to_frame)
+     296             :     {
+     297           2 :       auto ret = transformSingle(*what, to_frame);
+     298           1 :       if (ret == std::nullopt)
+     299           0 :         return std::nullopt;
+     300             :       else
+     301           1 :         return boost::make_shared<T>(std::move(ret.value()));
+     302             :     }
+     303             : 
+     304             :     /**
+     305             :      * \brief Transforms a single variable to a new frame and returns it or \p std::nullopt if transformation fails.
+     306             :      *
+     307             :      * A convenience overload for headerless variables.
+     308             :      *
+     309             :      * \param from_frame the original target frame ID.
+     310             :      * \param what the object to be transformed.
+     311             :      * \param to_frame the target frame ID.
+     312             :      * \param time_stamp the time of the transformation.
+     313             :      *
+     314             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     315             :      */
+     316             :     template <class T>
+     317             :     [[nodiscard]] std::optional<T> transformSingle(const std::string& from_frame, const T& what, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0));
+     318             : 
+     319             :     /**
+     320             :      * \brief Transforms a single variable to a new frame and returns it or \p std::nullopt if transformation fails.
+     321             :      *
+     322             :      * A convenience overload for shared pointers to headerless variables.
+     323             :      *
+     324             :      * \param from_frame the original target frame ID.
+     325             :      * \param what the object to be transformed.
+     326             :      * \param to_frame the target frame ID.
+     327             :      * \param time_stamp the time of the transformation.
+     328             :      *
+     329             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     330             :      */
+     331             :     template <class T>
+     332             :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transformSingle(const std::string& from_frame, const boost::shared_ptr<T>& what, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0))
+     333             :     {
+     334             :       return transformSingle(from_frame, boost::shared_ptr<const T>(what), to_frame, time_stamp);
+     335             :     }
+     336             : 
+     337             :     /**
+     338             :      * \brief Transforms a single variable to a new frame and returns it or \p std::nullopt if transformation fails.
+     339             :      *
+     340             :      * A convenience overload for shared pointers to const headerless variables.
+     341             :      *
+     342             :      * \param from_frame the original target frame ID.
+     343             :      * \param what the object to be transformed.
+     344             :      * \param to_frame the target frame ID.
+     345             :      * \param time_stamp the time of the transformation.
+     346             :      *
+     347             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     348             :      */
+     349             :     template <class T>
+     350           1 :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transformSingle(const std::string& from_frame, const boost::shared_ptr<const T>& what, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0))
+     351             :     {
+     352           1 :       auto ret = transformSingle(from_frame, *what, to_frame, time_stamp);
+     353           1 :       if (ret == std::nullopt)
+     354           0 :         return std::nullopt;
+     355             :       else
+     356           1 :         return boost::make_shared<T>(std::move(ret.value()));
+     357             :     }
+     358             : 
+     359             :     //}
+     360             : 
+     361             :     /* transform() //{ */
+     362             : 
+     363             :     /**
+     364             :      * \brief Transform a variable to new frame using a particular transformation.
+     365             :      *
+     366             :      * \param tf The transformation to be used.
+     367             :      * \param what The object to be transformed.
+     368             :      *
+     369             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     370             :      */
+     371             :     template <class T>
+     372             :     [[nodiscard]] std::optional<T> transform(const T& what, const geometry_msgs::TransformStamped& tf);
+     373             : 
+     374             :     /**
+     375             :      * \brief Transform a variable to new frame using a particular transformation.
+     376             :      *
+     377             :      * A convenience override for shared pointers to const.
+     378             :      *
+     379             :      * \param tf The transformation to be used.
+     380             :      * \param what The object to be transformed.
+     381             :      *
+     382             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     383             :      */
+     384             :     template <class T>
+     385           0 :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transform(const boost::shared_ptr<const T>& what, const geometry_msgs::TransformStamped& tf)
+     386             :     {
+     387           0 :       auto ret = transform(*what, tf);
+     388           0 :       if (ret == std::nullopt)
+     389           0 :         return std::nullopt;
+     390             :       else
+     391           0 :         return boost::make_shared<T>(std::move(ret.value()));
+     392             :     }
+     393             : 
+     394             :     /**
+     395             :      * \brief Transform a variable to new frame using a particular transformation.
+     396             :      *
+     397             :      * A convenience override for shared pointers.
+     398             :      *
+     399             :      * \param tf The transformation to be used.
+     400             :      * \param what The object to be transformed.
+     401             :      *
+     402             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     403             :      */
+     404             :     template <class T>
+     405           0 :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transform(const boost::shared_ptr<T>& what, const geometry_msgs::TransformStamped& tf)
+     406             :     {
+     407           0 :       return transform(boost::shared_ptr<const T>(what), tf);
+     408             :     }
+     409             : 
+     410             :     //}
+     411             : 
+     412             :     /* transformAsVector() method //{ */
+     413             :     /**
+     414             :      * \brief Transform an Eigen::Vector3d (interpreting it as a vector).
+     415             :      *
+     416             :      * Only the rotation will be applied to the variable.
+     417             :      *
+     418             :      * \param tf The transformation to be used.
+     419             :      * \param what The vector to be transformed.
+     420             :      *
+     421             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     422             :      */
+     423             :     [[nodiscard]] std::optional<Eigen::Vector3d> transformAsVector(const Eigen::Vector3d& what, const geometry_msgs::TransformStamped& tf);
+     424             : 
+     425             :     /**
+     426             :      * \brief Transform an Eigen::Vector3d (interpreting it as a vector).
+     427             :      *
+     428             :      * Only the rotation will be applied to the variable.
+     429             :      *
+     430             :      * \param from_frame  The current frame of \p what.
+     431             :      * \param what        The vector to be transformed.
+     432             :      * \param to_frame    The desired frame of \p what.
+     433             :      * \param time_stamp  From which time to take the transformation (use \p ros::Time(0) for the latest time).
+     434             :      *
+     435             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     436             :      */
+     437             :     [[nodiscard]] std::optional<Eigen::Vector3d> transformAsVector(const std::string& from_frame, const Eigen::Vector3d& what, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0));
+     438             :     //}
+     439             : 
+     440             :     /* transformAsPoint() method //{ */
+     441             :     /**
+     442             :      * \brief Transform an Eigen::Vector3d (interpreting it as a point).
+     443             :      *
+     444             :      * Both the rotation and translation will be applied to the variable.
+     445             :      *
+     446             :      * \param tf The transformation to be used.
+     447             :      * \param what The object to be transformed.
+     448             :      *
+     449             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     450             :      */
+     451             :     [[nodiscard]] std::optional<Eigen::Vector3d> transformAsPoint(const Eigen::Vector3d& what, const geometry_msgs::TransformStamped& tf);
+     452             : 
+     453             :     /**
+     454             :      * \brief Transform an Eigen::Vector3d (interpreting it as a point).
+     455             :      *
+     456             :      * Both the rotation and translation will be applied to the variable.
+     457             :      *
+     458             :      * \param from_frame  The current frame of \p what.
+     459             :      * \param what The object to be transformed.
+     460             :      * \param to_frame    The desired frame of \p what.
+     461             :      * \param time_stamp  From which time to take the transformation (use \p ros::Time(0) for the latest time).
+     462             :      *
+     463             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     464             :      */
+     465             :     [[nodiscard]] std::optional<Eigen::Vector3d> transformAsPoint(const std::string& from_frame, const Eigen::Vector3d& what, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0));
+     466             :     //}
+     467             : 
+     468             :     /* getTransform() //{ */
+     469             : 
+     470             :     /**
+     471             :      * \brief Obtains a transform between two frames in a given time.
+     472             :      *
+     473             :      * \param from_frame The original frame of the transformation.
+     474             :      * \param to_frame The target frame of the transformation.
+     475             :      * \param time_stamp The time stamp of the transformation. (0 will get the latest)
+     476             :      *
+     477             :      * \return \p std::nullopt if failed, optional containing the requested transformation otherwise.
+     478             :      */
+     479             :     [[nodiscard]] std::optional<geometry_msgs::TransformStamped> getTransform(const std::string& from_frame, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0));
+     480             : 
+     481             :     /**
+     482             :      * \brief Obtains a transform between two frames in a given time.
+     483             :      *
+     484             :      * This overload enables the user to select a different time of the source frame and the target frame.
+     485             :      *
+     486             :      * \param from_frame The original frame of the transformation.
+     487             :      * \param from_stamp The time at which the original frame should be evaluated. (0 will get the latest)
+     488             :      * \param to_frame The target frame of the transformation.
+     489             :      * \param to_stamp The time to which the data should be transformed. (0 will get the latest) 
+     490             :      * \param fixed_frame The frame that may be assumed constant in time (the "world" frame).
+     491             :      *
+     492             :      * \return \p std::nullopt if failed, optional containing the requested transformation otherwise.
+     493             :      *
+     494             :      * \note An example of when this API may be useful is explained here: http://wiki.ros.org/tf2/Tutorials/Time%20travel%20with%20tf2%20%28C%2B%2B%29
+     495             :      */
+     496             :     [[nodiscard]] std::optional<geometry_msgs::TransformStamped> getTransform(const std::string& from_frame, const ros::Time& from_stamp, const std::string& to_frame, const ros::Time& to_stamp, const std::string& fixed_frame);
+     497             : 
+     498             :     //}
+     499             : 
+     500             :   private:
+     501             :     /* private members, methods etc //{ */
+     502             : 
+     503             :     std::mutex mutex_;
+     504             : 
+     505             :     // keeps track whether a non-basic constructor was called and the transform listener is initialized
+     506             :     bool initialized_ = false;
+     507             :     std::string node_name_;
+     508             : 
+     509             :     std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
+     510             :     std::unique_ptr<tf2_ros::TransformListener> tf_listener_ptr_;
+     511             : 
+     512             :     // user-configurable options
+     513             :     std::string default_frame_id_ = "";
+     514             :     std::string prefix_ = ""; // if not empty, includes the forward slash
+     515             :     bool quiet_ = false;
+     516             :     ros::Duration lookup_timeout_ = ros::Duration(0);
+     517             :     bool retry_lookup_newest_ = false;
+     518             : 
+     519             :     bool got_utm_zone_ = false;
+     520             :     std::array<char, 10> utm_zone_ = {};
+     521             : 
+     522             :     // returns the first namespace prefix of the frame (if any) includin the forward slash
+     523             :     std::string getFramePrefix(const std::string& frame_id);
+     524             : 
+     525             :     template <class T>
+     526             :     std::optional<T> transformImpl(const geometry_msgs::TransformStamped& tf, const T& what);
+     527             :     std::optional<mrs_msgs::ReferenceStamped> transformImpl(const geometry_msgs::TransformStamped& tf, const mrs_msgs::ReferenceStamped& what);
+     528             :     std::optional<Eigen::Vector3d> transformImpl(const geometry_msgs::TransformStamped& tf, const Eigen::Vector3d& what);
+     529             : 
+     530             :     [[nodiscard]] std::optional<geometry_msgs::TransformStamped> getTransformImpl(const std::string& from_frame, const std::string& to_frame, const ros::Time& time_stamp, const std::string& latlon_frame);
+     531             :     [[nodiscard]] std::optional<geometry_msgs::TransformStamped> getTransformImpl(const std::string& from_frame, const ros::Time& from_stamp, const std::string& to_frame, const ros::Time& to_stamp, const std::string& fixed_frame, const std::string& latlon_frame);
+     532             : 
+     533             :     std::string resolveFrameImpl(const std::string& frame_id);
+     534             : 
+     535             :     template <class T>
+     536             :     std::optional<T> doTransform(const T& what, const geometry_msgs::TransformStamped& tf);
+     537             : 
+     538             :     //}
+     539             : 
+     540             :     // | ------------------- some helper methods ------------------ |
+     541             :   public:
+     542             :     /* frame_from(), frame_to() and inverse() methods //{ */
+     543             :     
+     544             :     /**
+     545             :      * \brief A convenience function that returns the frame from which the message transforms.
+     546             :      *
+     547             :      * \param msg the message representing the transformation.
+     548             :      * \return    the frame from which the transformation in \msg transforms.
+     549             :      */
+     550      700997 :     static constexpr const std::string& frame_from(const geometry_msgs::TransformStamped& msg)
+     551             :     {
+     552      700997 :       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      703491 :     static constexpr std::string& frame_from(geometry_msgs::TransformStamped& msg)
+     564             :     {
+     565      703491 :       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      701001 :     static constexpr const std::string& frame_to(const geometry_msgs::TransformStamped& msg)
+     575             :     {
+     576      701001 :       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      703965 :     static constexpr std::string& frame_to(geometry_msgs::TransformStamped& msg)
+     588             :     {
+     589      702641 :       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      703508 :     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      703508 :       geometry_msgs::TransformStamped ret;
+     621      703448 :       frame_from(ret) = from_frame;
+     622      703513 :       frame_to(ret) = to_frame;
+     623      703479 :       ret.header.stamp = time_stamp;
+     624      703479 :       ret.transform = tf;
+     625      703479 :       return ret;
+     626             :     }
+     627             :     //}
+     628             : 
+     629             :     /* copyChangeFrame() and related methods //{ */
+     630             : 
+     631             :     // helper type and member for detecting whether a message has a header using SFINAE
+     632             :     template<typename T>
+     633             :     using has_header_member_chk = decltype( std::declval<T&>().header );
+     634             :     template<typename T>
+     635             :     static constexpr bool has_header_member_v = std::experimental::is_detected<has_header_member_chk, T>::value;
+     636             :     
+     637             :     template <typename msg_t>
+     638             :     std_msgs::Header getHeader(const msg_t& msg);
+     639             :     template <typename pt_t>
+     640             :     std_msgs::Header getHeader(const pcl::PointCloud<pt_t>& cloud);
+     641             :     
+     642             :     template <typename msg_t>
+     643             :     void setHeader(msg_t& msg, const std_msgs::Header& header);
+     644             :     template <typename pt_t>
+     645             :     void setHeader(pcl::PointCloud<pt_t>& cloud, const std_msgs::Header& header);
+     646             :     
+     647             :     template <typename T>
+     648             :     T copyChangeFrame(const T& what, const std::string& frame_id);
+     649             :     
+     650             :     //}
+     651             : 
+     652             :     /* methods for converting between lattitude/longitude and UTM coordinates //{ */
+     653             :     geometry_msgs::Point LLtoUTM(const geometry_msgs::Point& what, const std::string& prefix);
+     654             :     geometry_msgs::PointStamped LLtoUTM(const geometry_msgs::PointStamped& what, const std::string& prefix);
+     655             :     geometry_msgs::Pose LLtoUTM(const geometry_msgs::Pose& what, const std::string& prefix);
+     656             :     geometry_msgs::PoseStamped LLtoUTM(const geometry_msgs::PoseStamped& what, const std::string& prefix);
+     657             :     
+     658             :     std::optional<geometry_msgs::Point> UTMtoLL(const geometry_msgs::Point& what, const std::string& prefix);
+     659             :     std::optional<geometry_msgs::PointStamped> UTMtoLL(const geometry_msgs::PointStamped& what, const std::string& prefix);
+     660             :     std::optional<geometry_msgs::Pose> UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix);
+     661             :     std::optional<geometry_msgs::PoseStamped> UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix);
+     662             :     
+     663             :     // helper types and member for detecting whether the UTMtoLL and LLtoUTM methods are defined for a certain message
+     664             :     template<class Class, typename Message>
+     665             :     using UTMLL_method_chk = decltype(std::declval<Class>().UTMtoLL(std::declval<const Message&>(), ""));
+     666             :     template<class Class, typename Message>
+     667             :     using LLUTM_method_chk = decltype(std::declval<Class>().LLtoUTM(std::declval<const Message&>(), ""));
+     668             :     template<class Class, typename Message>
+     669             :     static constexpr bool UTMLL_exists_v = std::experimental::is_detected<UTMLL_method_chk, Class, Message>::value && std::experimental::is_detected<LLUTM_method_chk, Class, Message>::value;
+     670             :     //}
+     671             : 
+     672             :   };
+     673             : 
+     674             :   //}
+     675             : 
+     676             : }  // namespace mrs_lib
+     677             : 
+     678             : #include <mrs_lib/impl/transformer.hpp>
+     679             : 
+     680             : #endif  // TRANSFORMER_H
+
+
+
+ + + + +
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          Line data    Source code
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+       1             : // clang: MatousFormat
+       2             : #ifndef UKF_H
+       3             : #define UKF_H
+       4             : 
+       5             : /**  \file
+       6             :      \brief Defines UKF - a class implementing the Unscented Kalman Filter \cite UKF.
+       7             :      \author Tomáš Báča - bacatoma@fel.cvut.cz (original implementation)
+       8             :      \author Matouš Vrba - vrbamato@fel.cvut.cz (rewrite, documentation)
+       9             :  */
+      10             : 
+      11             : #include <mrs_lib/kalman_filter.h>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   /**
+      17             :   * \brief Implementation of the Unscented Kalman filter \cite UKF.
+      18             :   *
+      19             :   * The Unscented Kalman filter (abbreviated UKF, \cite UKF) is a variant of the Kalman filter, which may be used
+      20             :   * for state filtration or estimation of non-linear systems as opposed to the Linear Kalman Filter
+      21             :   * (which is implemented in \ref LKF). The UKF tends to be more accurate than the simpler Extended Kalman Filter,
+      22             :   * espetially for highly non-linear systems. However, it is generally less stable than the LKF because of the extra
+      23             :   * matrix square root in the sigma points calculation, so it is recommended to use LKF for linear systems.
+      24             :   *
+      25             :   * The UKF C++ class itself is templated. This has its advantages and disadvantages. Main disadvantage is that it
+      26             :   * may be harder to use if you're not familiar with C++ templates, which, admittedly, can get somewhat messy,
+      27             :   * espetially during compilation. Another disadvantage is that if used unwisely, the compilation times can get
+      28             :   * much higher when using templates. The main advantage is compile-time checking (if it compiles, then it has
+      29             :   * a lower chance of crashing at runtime) and enabling more effective optimalizations during compilation. Also in case
+      30             :   * of Eigen, the code is arguably more readable when you use aliases to the specific Matrix instances instead of
+      31             :   * having Eigen::MatrixXd and Eigen::VectorXd everywhere.
+      32             :   *
+      33             :   * \tparam n_states         number of states of the system (length of the \f$ \mathbf{x} \f$ vector).
+      34             :   * \tparam n_inputs         number of inputs of the system (length of the \f$ \mathbf{u} \f$ vector).
+      35             :   * \tparam n_measurements   number of measurements of the system (length of the \f$ \mathbf{z} \f$ vector).
+      36             :   *
+      37             :   */
+      38             :   template <int n_states, int n_inputs, int n_measurements>
+      39             :   class UKF : KalmanFilter<n_states, n_inputs, n_measurements>
+      40             :   {
+      41             :   protected:
+      42             :     /* protected UKF definitions (typedefs, constants etc) //{ */
+      43             :     static constexpr int n = n_states;            /*!< \brief Length of the state vector of the system. */
+      44             :     static constexpr int m = n_inputs;            /*!< \brief Length of the input vector of the system. */
+      45             :     static constexpr int p = n_measurements;      /*!< \brief Length of the measurement vector of the system. */
+      46             :     static constexpr int w = 2 * n + 1;           /*!< \brief Number of sigma points/weights. */
+      47             : 
+      48             :     using Base_class = KalmanFilter<n, m, p>; /*!< \brief Base class of this class. */
+      49             : 
+      50             :     using X_t = typename Eigen::Matrix<double, n, w>;    /*!< \brief State sigma points matrix. */
+      51             :     using Z_t = typename Eigen::Matrix<double, p, w>;    /*!< \brief Measurement sigma points matrix. */
+      52             :     using Pzz_t = typename Eigen::Matrix<double, p, p>;  /*!< \brief Pzz helper matrix. */
+      53             :     using K_t = typename Eigen::Matrix<double, n, p>;    /*!< \brief Kalman gain matrix. */
+      54             :     //}
+      55             : 
+      56             :   public:
+      57             :     /* public UKF definitions (typedefs, constants etc) //{ */
+      58             :     //! state vector n*1 typedef
+      59             :     using x_t = typename Base_class::x_t;
+      60             :     //! input vector m*1 typedef
+      61             :     using u_t = typename Base_class::u_t;
+      62             :     //! measurement vector p*1 typedef
+      63             :     using z_t = typename Base_class::z_t;
+      64             :     //! state covariance n*n typedef
+      65             :     using P_t = typename Base_class::P_t;
+      66             :     //! measurement covariance p*p typedef
+      67             :     using R_t = typename Base_class::R_t;
+      68             :     //! process covariance n*n typedef
+      69             :     using Q_t = typename Base_class::Q_t;
+      70             :     //! weights vector (2n+1)*1 typedef
+      71             :     using W_t = typename Eigen::Matrix<double, w, 1>;
+      72             :     //! typedef of a helper struct for state and covariance
+      73             :     using statecov_t = typename Base_class::statecov_t;
+      74             :     //! function of the state transition model typedef
+      75             :     using transition_model_t = typename std::function<x_t(const x_t&, const u_t&, double)>;
+      76             :     //! function of the observation model typedef
+      77             :     using observation_model_t = typename std::function<z_t(const x_t&)>;
+      78             : 
+      79             :     //! is thrown when taking the square root of a matrix fails during sigma generation
+      80             :     struct square_root_exception : public std::exception
+      81             :     {
+      82           0 :       const char* what() const throw()
+      83             :       {
+      84           0 :         return "UKF: taking the square root of covariance update produced NANs!!!";
+      85             :       }
+      86             :     };
+      87             : 
+      88             :     //! is thrown when taking the inverse of a matrix fails during kalman gain calculation
+      89             :     struct inverse_exception : public std::exception
+      90             :     {
+      91           0 :       const char* what() const throw()
+      92             :       {
+      93           0 :         return "UKF: inverting of Pzz in correction update produced NANs!!!";
+      94             :       }
+      95             :     };
+      96             :     //}
+      97             : 
+      98             :   public:
+      99             :     /* UKF constructor //{ */
+     100             :   /*!
+     101             :     * \brief Convenience default constructor.
+     102             :     *
+     103             :     * This constructor should not be used if applicable. If used, the main constructor has to be called afterwards,
+     104             :     * otherwise the UKF object is invalid (not initialized).
+     105             :     */
+     106             :     UKF();
+     107             : 
+     108             :   /*!
+     109             :     * \brief The main constructor.
+     110             :     *
+     111             :     * \param alpha             Scaling parameter of the sigma generation (a small positive value, e.g. 1e-3).
+     112             :     * \param kappa             Secondary scaling parameter of the sigma generation (usually set to 0 or 1).
+     113             :     * \param beta              Incorporates prior knowledge about the distribution (for Gaussian distribution, 2 is optimal).
+     114             :     * \param transition_model  State transition model function.
+     115             :     * \param observation_model Observation model function.
+     116             :     */
+     117             :     UKF(const transition_model_t& transition_model, const observation_model_t& observation_model, const double alpha = 1e-3, const double kappa = 1, const double beta = 2);
+     118             :     //}
+     119             : 
+     120             :     /* correct() method //{ */
+     121             :   /*!
+     122             :     * \brief Implements the state correction step (measurement update).
+     123             :     *
+     124             :     * \param sc     Previous estimate of the state and covariance.
+     125             :     * \param z      Measurement vector.
+     126             :     * \param R      Measurement covariance matrix.
+     127             :     * \returns      The state and covariance after applying the correction step.
+     128             :     */
+     129             :     virtual statecov_t correct(const statecov_t& sc, const z_t& z, const R_t& R) const override;
+     130             :     //}
+     131             : 
+     132             :     /* predict() method //{ */
+     133             :   /*!
+     134             :     * \brief Implements the state prediction step (time update).
+     135             :     *
+     136             :     * \param sc     Previous estimate of the state and covariance.
+     137             :     * \param u      Input vector.
+     138             :     * \param Q      Process noise covariance matrix.
+     139             :     * \param dt     Duration since the previous estimate.
+     140             :     * \returns      The state and covariance after applying the correction step.
+     141             :     */
+     142             :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override;
+     143             :     //}
+     144             : 
+     145             :     /* setConstants() method //{ */
+     146             :   /*!
+     147             :     * \brief Changes the Unscented Transform parameters.
+     148             :     *
+     149             :     * \param alpha  Scaling parameter of the sigma generation (a small positive value - e.g. 1e-3).
+     150             :     * \param kappa  Secondary scaling parameter of the sigma generation (usually set to 0 or 1).
+     151             :     * \param beta   Incorporates prior knowledge about the distribution (for Gaussian distribution, 2 is optimal).
+     152             :     */
+     153             :     void setConstants(const double alpha, const double kappa, const double beta);
+     154             :     //}
+     155             : 
+     156             :     /* setTransitionModel() method //{ */
+     157             :   /*!
+     158             :     * \brief Changes the transition model function.
+     159             :     *
+     160             :     * \param transition_model   the new transition model
+     161             :     */
+     162             :     void setTransitionModel(const transition_model_t& transition_model);
+     163             :     //}
+     164             : 
+     165             :     /* setObservationModel() method //{ */
+     166             :   /*!
+     167             :     * \brief Changes the observation model function.
+     168             :     *
+     169             :     * \param observation_model   the new observation model
+     170             :     */
+     171             :     void setObservationModel(const observation_model_t& observation_model);
+     172             :     //}
+     173             : 
+     174             :   protected:
+     175             :     /* protected methods and member variables //{ */
+     176             : 
+     177             :     void computeWeights();
+     178             : 
+     179             :     X_t computeSigmas(const x_t& x, const P_t& P) const;
+     180             : 
+     181             :     P_t computePaSqrt(const P_t& P) const;
+     182             : 
+     183             :     Pzz_t computeInverse(const Pzz_t& Pzz) const;
+     184             : 
+     185             :     virtual K_t computeKalmanGain([[maybe_unused]] const x_t& x, [[maybe_unused]] const z_t& inn, const K_t& Pxz, const Pzz_t& Pzz) const;
+     186             : 
+     187             :     double m_alpha, m_kappa, m_beta, m_lambda;
+     188             :     W_t m_Wm;
+     189             :     W_t m_Wc;
+     190             : 
+     191             :     transition_model_t m_transition_model;
+     192             :     observation_model_t m_observation_model;
+     193             : 
+     194             :     //}
+     195             :   };
+     196             : 
+     197             : }  // namespace mrs_lib
+     198             : 
+     199             : #include <mrs_lib/impl/ukf.hpp>
+     200             : 
+     201             : #endif
+
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std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<boost::array<int, 3ul> >(boost::array<int, 3ul> const&, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
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int mrs_lib::signum<double>(double)19089
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Test:MRS UAV System - Test coverage reportLines:1515100.0 %
Date:2023-12-06 10:06:33Functions:55100.0 %
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Function Name Sort by function nameHit count Sort by hit count
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<boost::array<int, 3ul> >(boost::array<int, 3ul> const&, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<int const*>(int const*, int const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
int mrs_lib::signum<double>(double)19089
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Test:MRS UAV System - Test coverage reportLines:1515100.0 %
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines various general utility functions.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :      \author Viktor Walter - walver.viktor@fel.cvut.cz
+       6             :      \author Tomáš Báča - baca.tomas@fel.cvut.cz
+       7             :  */
+       8             : #ifndef UTILS_H
+       9             : #define UTILS_H
+      10             : 
+      11             : #include <iterator>
+      12             : #include <vector>
+      13             : #include <sstream>
+      14             : #include <atomic>
+      15             : 
+      16             : namespace mrs_lib
+      17             : {
+      18             :   /* containerToString() function //{ */
+      19             : 
+      20             :   /**
+      21             :    * \brief Convenience function for converting container ranges to strings (e.g. for printing).
+      22             :    *
+      23             :    * \param begin        first element of the container that will be converted to \p std::string.
+      24             :    * \param end          one-after-the-last element of the container that will be converted to \p std::string.
+      25             :    * \param delimiter    will be used to separate the elements in the output.
+      26             :    * \return             elements of the container from \p begin to \p end (excluding), converted to string and separated by \p delimiter.
+      27             :    *
+      28             :    */
+      29             :   template <typename Iterator>
+      30           2 :   std::string containerToString(const Iterator begin, const Iterator end, const std::string& delimiter = ", ")
+      31             :   {
+      32           2 :     bool first = true;
+      33           4 :     std::ostringstream output;
+      34           7 :     for (Iterator it = begin; it != end; it++)
+      35             :     {
+      36           5 :       if (!first)
+      37           3 :         output << delimiter;
+      38           5 :       output << *it;
+      39           5 :       first = false;
+      40             :     }
+      41           4 :     return output.str();
+      42             :   }
+      43             : 
+      44             :   /**
+      45             :    * \brief Convenience function for converting container ranges to strings (e.g. for printing).
+      46             :    *
+      47             :    * \param begin        first element of the container that will be converted to \p std::string.
+      48             :    * \param end          one-after-the-last element of the container that will be converted to \p std::string.
+      49             :    * \param delimiter    will be used to separate the elements in the output.
+      50             :    * \return             elements of the container from \p begin to \p end (excluding), converted to string and separated by \p delimiter.
+      51             :    *
+      52             :    */
+      53             :   template <typename Iterator>
+      54           1 :   std::string containerToString(const Iterator begin, const Iterator end, const char* delimiter)
+      55             :   {
+      56           1 :     return containerToString(begin, end, std::string(delimiter));
+      57             :   }
+      58             : 
+      59             :   /**
+      60             :    * \brief Convenience function for converting containers to strings (e.g. for printing).
+      61             :    *
+      62             :    * \param cont         the container that will be converted to \p std::string.
+      63             :    * \param delimiter    will be used to separate the elements in the output.
+      64             :    * \return             elements of the container from \p begin to \p end (excluding), converted to string and separated by \p delimiter.
+      65             :    *
+      66             :    */
+      67             :   template <typename Container>
+      68             :   std::string containerToString(const Container& cont, const std::string& delimiter = ", ")
+      69             :   {
+      70             :     return containerToString(std::begin(cont), std::end(cont), delimiter);
+      71             :   }
+      72             : 
+      73             :   /**
+      74             :    * \brief Convenience function for converting containers to strings (e.g. for printing).
+      75             :    *
+      76             :    * \param cont         the container that will be converted to \p std::string.
+      77             :    * \param delimiter    will be used to separate the elements in the output.
+      78             :    * \return             elements of the container from \p begin to \p end (excluding), converted to string and separated by \p delimiter.
+      79             :    *
+      80             :    */
+      81             :   template <typename Container>
+      82           1 :   std::string containerToString(const Container& cont, const char* delimiter = ", ")
+      83             :   {
+      84           1 :     return containerToString(std::begin(cont), std::end(cont), std::string(delimiter));
+      85             :   }
+      86             : 
+      87             :   //}
+      88             : 
+      89             :   /* remove_const() function //{ */
+      90             : 
+      91             :   /**
+      92             :    * \brief Convenience class for removing const-ness from a container iterator.
+      93             :    *
+      94             :    * \param it    the iterator from which const-ness should be removed.
+      95             :    * \param cont  the corresponding container of the iterator.
+      96             :    * \return      a non-const iterator, pointing to the same element as \p it.
+      97             :    *
+      98             :    */
+      99             :   template <typename T>
+     100             :   typename T::iterator remove_const(const typename T::const_iterator& it, T& cont)
+     101             :   {
+     102             :     typename T::iterator ret = cont.begin();
+     103             :     std::advance(ret, std::distance((typename T::const_iterator)ret, it));
+     104             :     return ret;
+     105             :   }
+     106             : 
+     107             :   //}
+     108             : 
+     109             :   /**
+     110             :    * \brief Convenience class for automatically setting and unsetting an atomic boolean based on the object's scope.
+     111             :    * Useful e.g. for indicating whether a thread is running or not.
+     112             :    *
+     113             :    */
+     114             :   class AtomicScopeFlag
+     115             :   {
+     116             : 
+     117             :   public:
+     118             :   /**
+     119             :    * \brief The constructor. Sets the flag \p in to \p true.
+     120             :    *
+     121             :    * \param in  The flag to be set on construction of this object and reset (set to \p false) on its destruction.
+     122             :    *
+     123             :    */
+     124             :     AtomicScopeFlag(std::atomic<bool>& in);
+     125             :   /**
+     126             :    * \brief The destructor. Resets the variable given in the constructor to \p false.
+     127             :    *
+     128             :    */
+     129             :     ~AtomicScopeFlag();
+     130             : 
+     131             :   private:
+     132             :     std::atomic<bool>& variable;
+     133             :   };
+     134             : 
+     135             :   // branchless, templated, more efficient version of the signum function
+     136             :   // taken from https://stackoverflow.com/questions/1903954/is-there-a-standard-sign-function-signum-sgn-in-c-c
+     137             :   template <typename T>
+     138       19089 :   int signum(T val)
+     139             :   {
+     140       19089 :     return (T(0) < val) - (val < T(0));
+     141             :   }
+     142             : 
+     143             : }  // namespace mrs_lib
+     144             : 
+     145             : #endif
+
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const6
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const6
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+
          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Object abstraction for the Batch Visualizer
+       3             :      \author Petr Štibinger - stibipet@fel.cvut.cz
+       4             :  */
+       5             : 
+       6             : #ifndef BATCH_VISUALIZER__VISUAL_OBJECT_H
+       7             : #define BATCH_VISUALIZER__VISUAL_OBJECT_H
+       8             : 
+       9             : #include <Eigen/Core>
+      10             : #include <ros/time.h>
+      11             : #include <std_msgs/ColorRGBA.h>
+      12             : #include <geometry_msgs/Point.h>
+      13             : #include <mrs_lib/geometry/shapes.h>
+      14             : #include <mrs_msgs/TrajectoryReference.h>
+      15             : 
+      16             : #define DEFAULT_ELLIPSE_POINTS 64
+      17             : 
+      18             : namespace mrs_lib
+      19             : {
+      20             : 
+      21             : enum MarkerType
+      22             : {
+      23             :   POINT    = 0,
+      24             :   LINE     = 1,
+      25             :   TRIANGLE = 2
+      26             : };
+      27             : 
+      28             : class VisualObject {
+      29             : 
+      30             : 
+      31             : public:
+      32             :   VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      33             :                const unsigned long& id);
+      34             : 
+      35             :   VisualObject(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      36             :                const unsigned long& id);
+      37             : 
+      38             :   VisualObject(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      39             :                const bool filled, const unsigned long& id);
+      40             : 
+      41             :   VisualObject(const mrs_lib::geometry::Rectangle& rectangle, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      42             :                const bool filled, const unsigned long& id);
+      43             : 
+      44             :   VisualObject(const mrs_lib::geometry::Cuboid& cuboid, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      45             :                const bool filled, const unsigned long& id);
+      46             : 
+      47             :   VisualObject(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      48             :                const bool filled, const unsigned long& id, const int num_points = DEFAULT_ELLIPSE_POINTS);
+      49             : 
+      50             :   VisualObject(const mrs_lib::geometry::Cylinder& cylinder, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      51             :                const bool filled, const bool capped, const unsigned long& id, const int num_sides = DEFAULT_ELLIPSE_POINTS);
+      52             : 
+      53             :   VisualObject(const mrs_lib::geometry::Cone& cone, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      54             :                const bool filled, const bool capped, const unsigned long& id, const int num_sides = DEFAULT_ELLIPSE_POINTS);
+      55             : 
+      56             :   VisualObject(const mrs_msgs::TrajectoryReference& traj, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      57             :                const bool filled, const unsigned long& id);
+      58             : 
+      59             : 
+      60             : public:
+      61             :   unsigned long getID() const;
+      62             :   int           getType() const;
+      63             :   bool          isTimedOut() const;
+      64             : 
+      65             :   const std::vector<geometry_msgs::Point> getPoints() const;
+      66             :   const std::vector<std_msgs::ColorRGBA>  getColors() const;
+      67             : 
+      68           6 :   bool operator<(const VisualObject& other) const {
+      69           6 :     return id_ < other.id_;
+      70             :   }
+      71             : 
+      72             :   bool operator>(const VisualObject& other) const {
+      73             :     return id_ > other.id_;
+      74             :   }
+      75             : 
+      76             :   bool operator==(const VisualObject& other) const {
+      77             :     return id_ == other.id_;
+      78             :   }
+      79             : 
+      80             : private:
+      81             :   const unsigned long               id_;
+      82             :   MarkerType                        type_;
+      83             :   std::vector<geometry_msgs::Point> points_;
+      84             :   std::vector<std_msgs::ColorRGBA>  colors_;
+      85             :   ros::Time                         timeout_time_;
+      86             : 
+      87             :   void addRay(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a);
+      88             : 
+      89             :   void addTriangle(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a, const bool filled);
+      90             : 
+      91             :   void addEllipse(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a, const bool filled,
+      92             :                   const int num_points);
+      93             : 
+      94             : };  // namespace batch_visualizer
+      95             : 
+      96             : }  // namespace mrs_lib
+      97             : 
+      98             : #endif
+
+
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+
+ +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::AttitudeConverter::setYaw(double const&)0
mrs_lib::Vector3Converter::operator tf2::Vector3() const0
mrs_lib::EulerAttitude::EulerAttitude(double const&, double const&, double const&)1
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getRoll()1
mrs_lib::AttitudeConverter::getPitch()1
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(mrs_lib::EulerAttitude const&)1
mrs_lib::EulerAttitude::yaw() const1
mrs_lib::EulerAttitude::roll() const1
mrs_lib::EulerAttitude::pitch() const1
mrs_lib::Vector3Converter::operator geometry_msgs::Vector3_<std::allocator<void> >() const1
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator mrs_lib::EulerAttitude() const1
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)6981
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)33117
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()43553
mrs_lib::AttitudeConverter::getYaw()58578
mrs_lib::AttitudeConverter::calculateRPY()58583
mrs_lib::AttitudeConverter::setHeading(double const&)93809
mrs_lib::AttitudeConverter::getVectorZ()95810
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const99471
mrs_lib::AttitudeConverter::operator tf2::Transform() const124846
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)141947
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)144789
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)148927
mrs_lib::Vector3Converter::operator Eigen::Matrix<double, 3, 1, 0, 3, 1>() const244743
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const357653
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)368332
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const681354
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)732215
mrs_lib::AttitudeConverter::getHeading()746662
mrs_lib::AttitudeConverter::AttitudeConverter(geometry_msgs::Quaternion_<std::allocator<void> >)1442119
mrs_lib::AttitudeConverter::AttitudeConverter(double const&, double const&, double const&, mrs_lib::RPY_convention_t const&)2262922
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const2955218
mrs_lib::AttitudeConverter::validateOrientation()4949831
+
+
+ + + +
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..c61e25f739 --- /dev/null +++ b/mrs_lib/src/attitude_converter/attitude_converter.cpp.func.html @@ -0,0 +1,244 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/attitude_converter/attitude_converter.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/attitude_converter - attitude_converter.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2023-12-06 10:06:33Functions: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&)141947
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)6981
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getHeading()746662
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::AttitudeConverter::getVectorZ()95810
mrs_lib::AttitudeConverter::setHeading(double const&)93809
mrs_lib::AttitudeConverter::calculateRPY()58583
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)148927
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)33117
mrs_lib::AttitudeConverter::validateOrientation()4949831
mrs_lib::AttitudeConverter::getYaw()58578
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> >)1442119
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)368332
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)144789
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)732215
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&)2262922
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()43553
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>() const244743
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const2955218
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const357653
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const99471
mrs_lib::AttitudeConverter::operator tf2::Transform() const124846
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const681354
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..3864bad792 --- /dev/null +++ b/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.html @@ -0,0 +1,561 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/attitude_converter/attitude_converter.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/attitude_converter - attitude_converter.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2023-12-06 10:06:33Functions: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        6981 : Vector3Converter::Vector3Converter(const Eigen::Vector3d& vector3) {
+      33             : 
+      34        6981 :   vector3_[0] = vector3[0];
+      35        6981 :   vector3_[1] = vector3[1];
+      36        6981 :   vector3_[2] = vector3[2];
+      37        6981 : }
+      38             : 
+      39      141947 : Vector3Converter::Vector3Converter(const geometry_msgs::Vector3& vector3) {
+      40             : 
+      41      141946 :   vector3_[0] = vector3.x;
+      42      141946 :   vector3_[1] = vector3.y;
+      43      141946 :   vector3_[2] = vector3.z;
+      44      141947 : }
+      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      244743 : Vector3Converter::operator Eigen::Vector3d() const {
+      59             : 
+      60      244743 :   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     2262922 : AttitudeConverter::AttitudeConverter(const double& roll, const double& pitch, const double& yaw, const RPY_convention_t& format) {
+      79             : 
+      80     2262910 :   switch (format) {
+      81             : 
+      82     2262901 :     case RPY_EXTRINSIC: {
+      83     2262901 :       tf2_quaternion_.setRPY(roll, pitch, yaw);
+      84     2262895 :       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     2262904 :   validateOrientation();
+     104     2262885 : }
+     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     1442119 : AttitudeConverter::AttitudeConverter(const geometry_msgs::Quaternion quaternion) {
+     117     1442017 :   tf2_quaternion_.setX(quaternion.x);
+     118     1441869 :   tf2_quaternion_.setY(quaternion.y);
+     119     1442033 :   tf2_quaternion_.setZ(quaternion.z);
+     120     1442100 :   tf2_quaternion_.setW(quaternion.w);
+     121             : 
+     122     1442147 :   validateOrientation();
+     123     1441818 : }
+     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      144789 : AttitudeConverter::AttitudeConverter(const Eigen::Quaterniond quaternion) {
+     132      144789 :   tf2_quaternion_.setX(quaternion.x());
+     133      144788 :   tf2_quaternion_.setY(quaternion.y());
+     134      144788 :   tf2_quaternion_.setZ(quaternion.z());
+     135      144788 :   tf2_quaternion_.setW(quaternion.w());
+     136             : 
+     137      144788 :   validateOrientation();
+     138      144789 : }
+     139             : 
+     140      732215 : AttitudeConverter::AttitudeConverter(const Eigen::Matrix3d matrix) {
+     141      731703 :   Eigen::Quaterniond quaternion = Eigen::Quaterniond(matrix);
+     142             : 
+     143      731907 :   tf2_quaternion_.setX(quaternion.x());
+     144      731694 :   tf2_quaternion_.setY(quaternion.y());
+     145      731880 :   tf2_quaternion_.setZ(quaternion.z());
+     146      731792 :   tf2_quaternion_.setW(quaternion.w());
+     147             : 
+     148      731819 :   validateOrientation();
+     149      731309 : }
+     150             : 
+     151      368332 : AttitudeConverter::AttitudeConverter(const tf2::Quaternion quaternion) {
+     152             : 
+     153      367591 :   tf2_quaternion_ = quaternion;
+     154             : 
+     155      367591 :   validateOrientation();
+     156      367507 : }
+     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      357653 : AttitudeConverter::operator tf2::Quaternion() const {
+     170      357653 :   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     2955218 : AttitudeConverter::operator geometry_msgs::Quaternion() const {
+     186             : 
+     187     2955218 :   geometry_msgs::Quaternion geom_quaternion;
+     188             : 
+     189     2954303 :   geom_quaternion.x = tf2_quaternion_.x();
+     190     2954035 :   geom_quaternion.y = tf2_quaternion_.y();
+     191     2953984 :   geom_quaternion.z = tf2_quaternion_.z();
+     192     2954294 :   geom_quaternion.w = tf2_quaternion_.w();
+     193             : 
+     194     2954225 :   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      681354 : AttitudeConverter::operator Eigen::Matrix3d() const {
+     206             : 
+     207      681354 :   Eigen::Quaterniond quaternion(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     208             : 
+     209     1362555 :   return quaternion.toRotationMatrix();
+     210             : }
+     211             : 
+     212       43553 : AttitudeConverter::operator std::tuple<double&, double&, double&>() {
+     213             : 
+     214       43553 :   tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     215             : 
+     216       43553 :   return std::tuple<double&, double&, double&>{roll_, pitch_, yaw_};
+     217             : }
+     218             : 
+     219       99471 : AttitudeConverter::operator tf2::Matrix3x3() const {
+     220             : 
+     221       99471 :   return tf2::Matrix3x3(tf2_quaternion_);
+     222             : }
+     223             : 
+     224      124846 : AttitudeConverter::operator tf2::Transform() const {
+     225             : 
+     226      124846 :   return tf2::Transform(tf2_quaternion_);
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* getters //{ */
+     232             : 
+     233       58578 : double AttitudeConverter::getYaw(void) {
+     234             : 
+     235       58578 :   calculateRPY();
+     236             : 
+     237       58578 :   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      746662 : double AttitudeConverter::getHeading(void) {
+     255             : 
+     256      746662 :   tf2::Vector3 b1 = tf2::Vector3(1, 0, 0);
+     257             : 
+     258      746548 :   tf2::Vector3 x_new = tf2::Transform(tf2_quaternion_) * b1;
+     259             : 
+     260      746167 :   if (fabs(x_new[0]) <= 1e-3 && fabs(x_new[1]) <= 1e-3) {
+     261           2 :     throw GetHeadingException();
+     262             :   }
+     263             : 
+     264     1491419 :   return atan2(x_new[1], x_new[0]);
+     265             : }
+     266             : 
+     267       33117 : 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       33117 :   if (fabs(heading_rate) < 1e-3) {
+     272       19509 :     return 0;
+     273             :   }
+     274             : 
+     275             :   // prep
+     276       13608 :   Eigen::Matrix3d R = *this;
+     277             : 
+     278             :   // construct the heading orbital velocity vector
+     279       13608 :   Eigen::Vector3d heading_vector   = Eigen::Vector3d(R(0, 0), R(1, 0), 0);
+     280       13608 :   Eigen::Vector3d orbital_velocity = Eigen::Vector3d(0, 0, heading_rate).cross(heading_vector);
+     281             : 
+     282             :   // projector to the heading orbital velocity vector subspace
+     283       13608 :   Eigen::Vector3d b_orb = Eigen::Vector3d(0, 0, 1).cross(heading_vector);
+     284       13608 :   b_orb.normalize();
+     285       13608 :   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       13608 :   Eigen::Vector3d projected = P * R.col(1);
+     289             : 
+     290             : 
+     291       13608 :   double orbital_velocity_norm = orbital_velocity.norm();
+     292       13608 :   double projected_norm        = projected.norm();
+     293             : 
+     294       13608 :   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       13608 :   double direction = mrs_lib::signum(orbital_velocity.dot(projected));
+     300             : 
+     301       13608 :   double output_yaw_rate = direction * (orbital_velocity_norm / projected_norm);
+     302             : 
+     303       13608 :   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       13608 :   return output_yaw_rate;
+     310             : }
+     311             : 
+     312      148927 : double AttitudeConverter::getHeadingRate(const Vector3Converter& attitude_rate) {
+     313             : 
+     314             :   // prep
+     315      148927 :   Eigen::Matrix3d R = *this;
+     316      148926 :   Eigen::Vector3d w = attitude_rate;
+     317             : 
+     318             :   // create the angular velocity tensor
+     319      148927 :   Eigen::Matrix3d W;
+     320      148927 :   W << 0, -w[2], w[1], w[2], 0, -w[0], -w[1], w[0], 0;
+     321             : 
+     322             :   // R derivative
+     323      148926 :   Eigen::Matrix3d R_d = R * W;
+     324             : 
+     325             :   // atan2 derivative
+     326      148926 :   double rx = R(0, 0);  // x-component of body X
+     327      148925 :   double ry = R(1, 0);  // y-component of body Y
+     328             : 
+     329      148926 :   double denom = rx * rx + ry * ry;
+     330             : 
+     331      148926 :   if (fabs(denom) <= 1e-5) {
+     332           0 :     ROS_ERROR("[AttitudeConverter]: getHeadingRate(): denominator near zero!!!");
+     333           0 :     throw MathErrorException();
+     334             :   }
+     335             : 
+     336      148926 :   double atan2_d_x = -ry / denom;
+     337      148926 :   double atan2_d_y = rx / denom;
+     338             : 
+     339             :   // atan2 total differential
+     340      148926 :   double heading_rate = atan2_d_x * R_d(0, 0) + atan2_d_y * R_d(1, 0);
+     341             : 
+     342      148927 :   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       95810 : Vector3Converter AttitudeConverter::getVectorZ(void) {
+     364             : 
+     365       95810 :   tf2::Vector3 b3 = tf2::Vector3(0, 0, 1);
+     366             : 
+     367       95809 :   tf2::Vector3 new_b3 = tf2::Transform(tf2_quaternion_) * b3;
+     368             : 
+     369      191622 :   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       93809 : AttitudeConverter AttitudeConverter::setHeading(const double& heading) {
+     404             : 
+     405             :   // get the Z unit vector after the original rotation
+     406       93809 :   Eigen::Vector3d b3 = getVectorZ();
+     407             : 
+     408             :   // check for singularity: z component of the thrust vector is 0
+     409       93806 :   if (fabs(b3[2]) < 1e-3) {
+     410           2 :     throw SetHeadingException();
+     411             :   }
+     412             : 
+     413             :   // get the desired heading as a vector in 3D
+     414       93806 :   Eigen::Vector3d h(cos(heading), sin(heading), 0);
+     415             : 
+     416       93807 :   Eigen::Matrix3d new_R;
+     417             : 
+     418       93806 :   new_R.col(2) = b3;
+     419             : 
+     420             :   // construct the oblique projection
+     421       93805 :   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      187364 :   Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+     425       93752 :   A.col(0)          = projector_body_z_compl.col(0);
+     426       93731 :   A.col(1)          = projector_body_z_compl.col(1);
+     427             : 
+     428             :   // create the basis of the projection null-space complement
+     429      187267 :   Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+     430       93742 :   B.col(0)          = Eigen::Vector3d(1, 0, 0);
+     431       93721 :   B.col(1)          = Eigen::Vector3d(0, 1, 0);
+     432             : 
+     433             :   // oblique projector to <range_basis>
+     434      187177 :   Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     435      187250 :   Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     436       93600 :   Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     437             : 
+     438       93552 :   new_R.col(0) = oblique_projector * h;
+     439       93465 :   new_R.col(0).normalize();
+     440             : 
+     441             :   // | ------------------------- body y ------------------------- |
+     442             : 
+     443       93483 :   new_R.col(1) = new_R.col(2).cross(new_R.col(0));
+     444       93054 :   new_R.col(1).normalize();
+     445             : 
+     446      187029 :   return AttitudeConverter(new_R);
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : // | ------------------------ internal ------------------------ |
+     452             : 
+     453             : /* calculateRPY() //{ */
+     454             : 
+     455       58583 : void AttitudeConverter::calculateRPY(void) {
+     456             : 
+     457       58583 :   if (!got_rpy_) {
+     458             : 
+     459       58583 :     tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     460             :   }
+     461       58583 : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : /* validateOrientation() //{ */
+     466             : 
+     467     4949831 : void AttitudeConverter::validateOrientation(void) {
+     468             : 
+     469     9897851 :   if (!std::isfinite(tf2_quaternion_.x()) || !std::isfinite(tf2_quaternion_.y()) || !std::isfinite(tf2_quaternion_.z()) ||
+     470     4947707 :       !std::isfinite(tf2_quaternion_.w())) {
+     471           2 :     throw InvalidAttitudeException();
+     472             :   }
+     473     4947696 : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : }  // namespace mrs_lib
+
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mrs_lib::BatchVisualizer::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int, ros::Duration const&)0
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mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)4
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mrs_lib::BatchVisualizer::BatchVisualizer(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)94
mrs_lib::BatchVisualizer::BatchVisualizer()94
mrs_lib::BatchVisualizer::clearBuffers()96
mrs_lib::BatchVisualizer::clearVisuals()96
mrs_lib::BatchVisualizer::~BatchVisualizer()188
mrs_lib::BatchVisualizer::addNullPoint()190
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mrs_lib::BatchVisualizer::addNullTriangle()192
mrs_lib::BatchVisualizer::publish()192
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Current view:top level - mrs_lib/src/batch_visualizer - batch_visualizer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16221376.1 %
Date:2023-12-06 10:06:33Functions: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()94
mrs_lib::BatchVisualizer::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullLine()192
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullPoint()190
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::clearBuffers()96
mrs_lib::BatchVisualizer::clearVisuals()96
mrs_lib::BatchVisualizer::addTrajectory(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::setLinesScale(double)0
mrs_lib::BatchVisualizer::setParentFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)2
mrs_lib::BatchVisualizer::setPointsScale(double)2
mrs_lib::BatchVisualizer::addNullTriangle()192
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()192
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)4
mrs_lib::BatchVisualizer::addCuboid(mrs_lib::geometry::Cuboid const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::BatchVisualizer(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)94
mrs_lib::BatchVisualizer::BatchVisualizer()94
mrs_lib::BatchVisualizer::~BatchVisualizer()188
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Current view:top level - mrs_lib/src/batch_visualizer - batch_visualizer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16221376.1 %
Date:2023-12-06 10:06:33Functions: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          94 : BatchVisualizer::BatchVisualizer() {
+      10          94 : }
+      11             : 
+      12         188 : BatchVisualizer::~BatchVisualizer() {
+      13         188 : }
+      14             : 
+      15          94 : BatchVisualizer::BatchVisualizer(ros::NodeHandle &nh, const std::string marker_topic_name, const std::string parent_frame) {
+      16          94 :   this->parent_frame      = parent_frame;
+      17          94 :   this->marker_topic_name = marker_topic_name;
+      18          94 :   initialize();
+      19             : 
+      20          94 :   this->visual_pub = nh.advertise<visualization_msgs::MarkerArray>(marker_topic_name.c_str(), 1);
+      21          94 :   publish();
+      22          94 : }
+      23             : //}
+      24             : 
+      25             : /* setParentFrame //{ */
+      26             : 
+      27           2 : void BatchVisualizer::setParentFrame(const std::string parent_frame) {
+      28           2 :   this->parent_frame               = parent_frame;
+      29           2 :   points_marker.header.frame_id    = parent_frame;
+      30           2 :   triangles_marker.header.frame_id = parent_frame;
+      31           2 :   lines_marker.header.frame_id     = parent_frame;
+      32           2 : }
+      33             : 
+      34             : //}
+      35             : 
+      36             : /* initialize //{ */
+      37          94 : void BatchVisualizer::initialize() {
+      38          94 :   if (initialized) {
+      39           0 :     return;
+      40             :   }
+      41             : 
+      42             :   // setup points marker
+      43          94 :   std::stringstream ss;
+      44          94 :   ss << marker_topic_name << "_points";
+      45          94 :   points_marker.header.frame_id    = parent_frame;
+      46          94 :   points_marker.header.stamp       = ros::Time::now();
+      47          94 :   points_marker.ns                 = ss.str().c_str();
+      48          94 :   points_marker.action             = visualization_msgs::Marker::ADD;
+      49          94 :   points_marker.pose.orientation.w = 1.0;
+      50          94 :   points_marker.id                 = 8;
+      51          94 :   points_marker.type               = visualization_msgs::Marker::POINTS;
+      52             : 
+      53          94 :   points_marker.scale.x = points_scale;
+      54          94 :   points_marker.scale.y = points_scale;
+      55          94 :   points_marker.color.a = 1.0;
+      56             : 
+      57             :   // setup lines marker
+      58          94 :   ss.str(std::string());
+      59          94 :   ss << marker_topic_name << "_lines";
+      60          94 :   lines_marker.header.frame_id    = parent_frame;
+      61          94 :   lines_marker.header.stamp       = ros::Time::now();
+      62          94 :   lines_marker.ns                 = ss.str().c_str();
+      63          94 :   lines_marker.action             = visualization_msgs::Marker::ADD;
+      64          94 :   lines_marker.pose.orientation.w = 1.0;
+      65          94 :   lines_marker.id                 = 5;
+      66          94 :   lines_marker.type               = visualization_msgs::Marker::LINE_LIST;
+      67             : 
+      68          94 :   lines_marker.scale.x = lines_scale;
+      69          94 :   lines_marker.color.a = 1.0;
+      70             : 
+      71             :   // setup triangles marker
+      72          94 :   ss.str(std::string());
+      73          94 :   ss << marker_topic_name << "_triangles";
+      74          94 :   triangles_marker.header.frame_id    = parent_frame;
+      75          94 :   triangles_marker.header.stamp       = ros::Time::now();
+      76          94 :   triangles_marker.ns                 = ss.str().c_str();
+      77          94 :   triangles_marker.action             = visualization_msgs::Marker::ADD;
+      78          94 :   triangles_marker.pose.orientation.w = 1.0;
+      79          94 :   triangles_marker.id                 = 11;
+      80          94 :   triangles_marker.type               = visualization_msgs::Marker::TRIANGLE_LIST;
+      81             : 
+      82          94 :   triangles_marker.scale.x = 1;
+      83          94 :   triangles_marker.scale.y = 1;
+      84          94 :   triangles_marker.scale.z = 1;
+      85          94 :   triangles_marker.color.a = 1.0;
+      86             : 
+      87          94 :   ROS_INFO("[%s]: Batch visualizer loaded with default values", ros::this_node::getName().c_str());
+      88          94 :   initialized = true;
+      89             : }
+      90             : //}
+      91             : 
+      92             : /* addPoint //{ */
+      93           4 : void BatchVisualizer::addPoint(const Eigen::Vector3d &p, const double r, const double g, const double b, const double a, const ros::Duration &timeout) {
+      94             : 
+      95           8 :   VisualObject obj = VisualObject(p, r, g, b, a, timeout, uuid++);
+      96           4 :   visual_objects.insert(obj);
+      97           4 : }
+      98             : //}
+      99             : 
+     100             : /* addRay */  //{
+     101           0 : void BatchVisualizer::addRay(const mrs_lib::geometry::Ray &ray, const double r, const double g, const double b, const double a, const ros::Duration &timeout) {
+     102             : 
+     103           0 :   VisualObject obj = VisualObject(ray, r, g, b, a, timeout, uuid++);
+     104           0 :   visual_objects.insert(obj);
+     105           0 : }
+     106             : //}
+     107             : 
+     108             : /* addTriangle //{ */
+     109           0 : void BatchVisualizer::addTriangle(const mrs_lib::geometry::Triangle &tri, const double r, const double g, const double b, const double a, const bool filled,
+     110             :                                   const ros::Duration &timeout) {
+     111             : 
+     112           0 :   VisualObject obj = VisualObject(tri, r, g, b, a, timeout, filled, uuid++);
+     113           0 :   visual_objects.insert(obj);
+     114           0 : }
+     115             : //}
+     116             : 
+     117             : /* addRectangle //{ */
+     118           0 : void BatchVisualizer::addRectangle(const mrs_lib::geometry::Rectangle &rect, const double r, const double g, const double b, const double a, const bool filled,
+     119             :                                    const ros::Duration &timeout) {
+     120             : 
+     121           0 :   VisualObject obj = VisualObject(rect, r, g, b, a, timeout, filled, uuid++);
+     122           0 :   visual_objects.insert(obj);
+     123           0 : }
+     124             : //}
+     125             : 
+     126             : /* addCuboid //{ */
+     127           0 : void BatchVisualizer::addCuboid(const mrs_lib::geometry::Cuboid &cuboid, const double r, const double g, const double b, const double a, const bool filled,
+     128             :                                 const ros::Duration &timeout) {
+     129             : 
+     130           0 :   VisualObject obj = VisualObject(cuboid, r, g, b, a, timeout, filled, uuid++);
+     131           0 :   visual_objects.insert(obj);
+     132           0 : }
+     133             : //}
+     134             : 
+     135             : /* addEllipse //{ */
+     136           0 : void BatchVisualizer::addEllipse(const mrs_lib::geometry::Ellipse &ellipse, const double r, const double g, const double b, const double a, const bool filled,
+     137             :                                  const int num_points, const ros::Duration &timeout) {
+     138             : 
+     139           0 :   VisualObject obj = VisualObject(ellipse, r, g, b, a, timeout, filled, uuid++, num_points);
+     140           0 :   visual_objects.insert(obj);
+     141           0 : }
+     142             : //}
+     143             : 
+     144             : /* addCylinder //{ */
+     145           0 : void BatchVisualizer::addCylinder(const mrs_lib::geometry::Cylinder &cylinder, const double r, const double g, const double b, const double a,
+     146             :                                   const bool filled, const bool capped, const int sides, const ros::Duration &timeout) {
+     147           0 :   VisualObject obj = VisualObject(cylinder, r, g, b, a, timeout, filled, capped, uuid++, sides);
+     148           0 :   visual_objects.insert(obj);
+     149           0 : }
+     150             : //}
+     151             : 
+     152             : /* addCone //{ */
+     153           0 : void BatchVisualizer::addCone(const mrs_lib::geometry::Cone &cone, const double r, const double g, const double b, const double a, const bool filled,
+     154             :                               const bool capped, const int sides, const ros::Duration &timeout) {
+     155           0 :   VisualObject obj = VisualObject(cone, r, g, b, a, timeout, filled, capped, uuid++, sides);
+     156           0 :   visual_objects.insert(obj);
+     157           0 : }
+     158             : //}
+     159             : 
+     160             : /* addTrajectory //{ */
+     161           0 : void BatchVisualizer::addTrajectory(const mrs_msgs::TrajectoryReference &traj, const double r, const double g, const double b, const double a,
+     162             :                                     const bool filled, const ros::Duration &timeout) {
+     163           0 :   VisualObject obj = VisualObject(traj, r, g, b, a, timeout, filled, uuid++);
+     164           0 :   visual_objects.insert(obj);
+     165           0 : }
+     166             : //}
+     167             : 
+     168             : /* addNullPoint //{ */
+     169         190 : void BatchVisualizer::addNullPoint() {
+     170         190 :   geometry_msgs::Point p;
+     171         190 :   p.x = 10000.0;
+     172         190 :   p.y = 0.0;
+     173         190 :   p.z = 0.0;
+     174             : 
+     175         190 :   std_msgs::ColorRGBA c;
+     176         190 :   c.r = 1.0;
+     177         190 :   c.g = 1.0;
+     178         190 :   c.b = 1.0;
+     179         190 :   c.a = 1.0;
+     180             : 
+     181         190 :   points_marker.points.push_back(p);
+     182         190 :   points_marker.colors.push_back(c);
+     183         190 : }
+     184             : //}
+     185             : 
+     186             : /* addNullLine //{ */
+     187         192 : void BatchVisualizer::addNullLine() {
+     188         192 :   geometry_msgs::Point p1, p2;
+     189         192 :   p1.x = 10000.0;
+     190         192 :   p1.y = 0.0;
+     191         192 :   p1.z = 0.0;
+     192             : 
+     193         192 :   p2.x = 10001.0;
+     194         192 :   p2.y = 0.0;
+     195         192 :   p2.z = 0.0;
+     196             : 
+     197         192 :   std_msgs::ColorRGBA c;
+     198         192 :   c.r = 1.0;
+     199         192 :   c.g = 1.0;
+     200         192 :   c.b = 1.0;
+     201             : 
+     202         192 :   lines_marker.colors.push_back(c);
+     203         192 :   lines_marker.colors.push_back(c);
+     204             : 
+     205         192 :   lines_marker.points.push_back(p1);
+     206         192 :   lines_marker.points.push_back(p2);
+     207         192 : }
+     208             : //}
+     209             : 
+     210             : /* addNullTriangle //{ */
+     211         192 : void BatchVisualizer::addNullTriangle() {
+     212         192 :   geometry_msgs::Point p1, p2, p3;
+     213         192 :   p1.x = 10000.0;
+     214         192 :   p1.y = 0.0;
+     215         192 :   p1.z = 0.0;
+     216             : 
+     217         192 :   p2.x = 10001.0;
+     218         192 :   p2.y = 0.0;
+     219         192 :   p2.z = 0.0;
+     220             : 
+     221         192 :   std_msgs::ColorRGBA c;
+     222         192 :   c.r = 1.0;
+     223         192 :   c.g = 1.0;
+     224         192 :   c.b = 1.0;
+     225             : 
+     226         192 :   p3.x = 10001.0;
+     227         192 :   p3.y = 0.01;
+     228         192 :   p3.z = 0.0;
+     229         192 :   triangles_marker.colors.push_back(c);
+     230         192 :   triangles_marker.colors.push_back(c);
+     231         192 :   triangles_marker.colors.push_back(c);
+     232             : 
+     233         192 :   triangles_marker.points.push_back(p1);
+     234         192 :   triangles_marker.points.push_back(p2);
+     235         192 :   triangles_marker.points.push_back(p3);
+     236         192 : }
+     237             : //}
+     238             : 
+     239             : /* setPointsScale //{ */
+     240           2 : void BatchVisualizer::setPointsScale(const double scale) {
+     241           2 :   points_scale = scale;
+     242           2 : }
+     243             : //}
+     244             : 
+     245             : /* setLinesScale //{ */
+     246           0 : void BatchVisualizer::setLinesScale(const double scale) {
+     247           0 :   lines_scale = scale;
+     248           0 : }
+     249             : //}
+     250             : 
+     251             : /* clearBuffers //{ */
+     252          96 : void BatchVisualizer::clearBuffers() {
+     253          96 :   visual_objects.clear();
+     254          96 : }
+     255             : //}
+     256             : 
+     257             : /* clearVisuals //{ */
+     258          96 : void BatchVisualizer::clearVisuals() {
+     259         192 :   std::set<VisualObject> visual_objects_tmp;
+     260          96 :   visual_objects_tmp.insert(visual_objects.begin(), visual_objects.end());
+     261             : 
+     262          96 :   visual_objects.clear();
+     263          96 :   publish();
+     264             : 
+     265          96 :   visual_objects.insert(visual_objects_tmp.begin(), visual_objects_tmp.end());
+     266          96 : }
+     267             : //}
+     268             : 
+     269             : /* publish //{ */
+     270         192 : void BatchVisualizer::publish() {
+     271             : 
+     272         192 :   msg.markers.clear();
+     273         192 :   points_marker.points.clear();
+     274         192 :   points_marker.colors.clear();
+     275             : 
+     276         192 :   lines_marker.points.clear();
+     277         192 :   lines_marker.colors.clear();
+     278             : 
+     279         192 :   triangles_marker.points.clear();
+     280         192 :   triangles_marker.colors.clear();
+     281             : 
+     282             :   // fill marker messages and remove objects that have timed out
+     283         196 :   for (auto it = visual_objects.begin(); it != visual_objects.end();) {
+     284           4 :     if (it->isTimedOut()) {
+     285           0 :       it = visual_objects.erase(it);
+     286             :     } else {
+     287           8 :       auto points = it->getPoints();
+     288           8 :       auto colors = it->getColors();
+     289           4 :       switch (it->getType()) {
+     290           4 :         case MarkerType::POINT: {
+     291           4 :           points_marker.points.insert(points_marker.points.end(), points.begin(), points.end());
+     292           4 :           points_marker.colors.insert(points_marker.colors.end(), colors.begin(), colors.end());
+     293           4 :           break;
+     294             :         }
+     295           0 :         case MarkerType::LINE: {
+     296           0 :           lines_marker.points.insert(lines_marker.points.end(), points.begin(), points.end());
+     297           0 :           lines_marker.colors.insert(lines_marker.colors.end(), colors.begin(), colors.end());
+     298           0 :           break;
+     299             :         }
+     300           0 :         case MarkerType::TRIANGLE: {
+     301           0 :           triangles_marker.points.insert(triangles_marker.points.end(), points.begin(), points.end());
+     302           0 :           triangles_marker.colors.insert(triangles_marker.colors.end(), colors.begin(), colors.end());
+     303           0 :           break;
+     304             :         }
+     305             :       }
+     306           4 :       it++;
+     307             :     }
+     308             :   }
+     309             : 
+     310         192 :   auto now = ros::Time::now();
+     311             : 
+     312         192 :   if (!points_marker.points.empty()) {
+     313           2 :     points_marker.scale.x = points_scale;
+     314           2 :     points_marker.scale.y = points_scale;
+     315             :   } else {
+     316         190 :     addNullPoint();
+     317             :   }
+     318         192 :   points_marker.header.stamp = now;
+     319         192 :   msg.markers.push_back(points_marker);
+     320             : 
+     321         192 :   if (!lines_marker.points.empty()) {
+     322           0 :     lines_marker.scale.x = lines_scale;
+     323             :   } else {
+     324         192 :     addNullLine();
+     325             :   }
+     326         192 :   lines_marker.header.stamp = now;
+     327         192 :   msg.markers.push_back(lines_marker);
+     328             : 
+     329         192 :   if (!triangles_marker.points.empty()) {
+     330           0 :     triangles_marker.header.stamp = now;
+     331             :   } else {
+     332         192 :     addNullTriangle();
+     333             :   }
+     334         192 :   triangles_marker.header.stamp = now;
+     335         192 :   msg.markers.push_back(triangles_marker);
+     336             : 
+     337         192 :   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         192 :   visual_pub.publish(msg);
+     345         192 : }
+     346             : //}
+     347             : 
+     348             : }  // namespace mrs_lib
+
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76.1%76.1%
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visual_object.cpp +
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Current view:top level - mrs_lib/src/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3019515.4 %
Date:2023-12-06 10:06:33Functions:72133.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::msgToEigen(geometry_msgs::Point_<std::allocator<void> > const&)0
mrs_lib::VisualObject::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int)0
mrs_lib::VisualObject::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool)0
mrs_lib::VisualObject::addRay(mrs_lib::geometry::Ray const&, double, double, double, double)0
mrs_lib::VisualObject::VisualObject(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Ray const&, double, double, double, double, ros::Duration const&, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cone const&, double, double, double, double, ros::Duration const&, bool, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cuboid const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Ellipse const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cylinder const&, double, double, double, double, ros::Duration const&, bool, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Triangle const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Rectangle const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::buildEllipse(mrs_lib::geometry::Ellipse const&, int)0
mrs_lib::VisualObject::getID() const0
mrs_lib::eigenToMsg(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)4
mrs_lib::VisualObject::VisualObject(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&, unsigned long const&)4
mrs_lib::generateColor(double, double, double, double)4
mrs_lib::VisualObject::isTimedOut() const4
mrs_lib::VisualObject::getType() const4
mrs_lib::VisualObject::getColors() const4
mrs_lib::VisualObject::getPoints() const4
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Current view:top level - mrs_lib/src/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3019515.4 %
Date:2023-12-06 10:06:33Functions:72133.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::eigenToMsg(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)4
mrs_lib::msgToEigen(geometry_msgs::Point_<std::allocator<void> > const&)0
mrs_lib::VisualObject::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int)0
mrs_lib::VisualObject::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool)0
mrs_lib::VisualObject::addRay(mrs_lib::geometry::Ray const&, double, double, double, double)0
mrs_lib::VisualObject::VisualObject(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&, unsigned long const&)4
mrs_lib::VisualObject::VisualObject(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Ray const&, double, double, double, double, ros::Duration const&, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cone const&, double, double, double, double, ros::Duration const&, bool, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cuboid const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Ellipse const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cylinder const&, double, double, double, double, ros::Duration const&, bool, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Triangle const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Rectangle const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::buildEllipse(mrs_lib::geometry::Ellipse const&, int)0
mrs_lib::generateColor(double, double, double, double)4
mrs_lib::VisualObject::isTimedOut() const4
mrs_lib::VisualObject::getID() const0
mrs_lib::VisualObject::getType() const4
mrs_lib::VisualObject::getColors() const4
mrs_lib::VisualObject::getPoints() const4
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Current view:top level - mrs_lib/src/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3019515.4 %
Date:2023-12-06 10:06:33Functions:72133.3 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/visual_object.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : /* utils //{ */
+       7             : 
+       8             : /* conversions //{ */
+       9           4 : geometry_msgs::Point eigenToMsg(const Eigen::Vector3d& v) {
+      10           4 :   geometry_msgs::Point p;
+      11           4 :   p.x = v.x();
+      12           4 :   p.y = v.y();
+      13           4 :   p.z = v.z();
+      14           4 :   return p;
+      15             : }
+      16             : 
+      17           4 : std_msgs::ColorRGBA generateColor(const double r, const double g, const double b, const double a) {
+      18           4 :   std_msgs::ColorRGBA c;
+      19           4 :   c.r = r;
+      20           4 :   c.g = g;
+      21           4 :   c.b = b;
+      22           4 :   c.a = a;
+      23           4 :   return c;
+      24             : }
+      25             : 
+      26           0 : Eigen::Vector3d msgToEigen(const geometry_msgs::Point& p) {
+      27           0 :   return Eigen::Vector3d(p.x, p.y, p.z);
+      28             : }
+      29             : //}
+      30             : 
+      31             : /* buildEllipse //{ */
+      32           0 : std::vector<Eigen::Vector3d> buildEllipse(const mrs_lib::geometry::Ellipse& ellipse, const int num_points) {
+      33           0 :   std::vector<Eigen::Vector3d> points;
+      34           0 :   double                       theta = 0;
+      35           0 :   for (int i = 0; i < num_points; i++) {
+      36           0 :     double          nom = (ellipse.a() * ellipse.b());
+      37           0 :     double          den = sqrt(((ellipse.b() * cos(theta)) * (ellipse.b() * cos(theta))) + ((ellipse.a() * sin(theta)) * (ellipse.a() * sin(theta))));
+      38           0 :     double          rho = nom / den;
+      39           0 :     Eigen::Vector3d point(rho * cos(theta), rho * sin(theta), 0);
+      40           0 :     point = ellipse.center() + ellipse.orientation() * point;
+      41           0 :     points.push_back(point);
+      42           0 :     theta += 2.0 * M_PI / num_points;
+      43             :   }
+      44           0 :   return points;
+      45             : }
+      46             : //}
+      47             : 
+      48             : //}
+      49             : 
+      50             : /* addRay //{ */
+      51           0 : void VisualObject::addRay(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a) {
+      52           0 :   type_ = MarkerType::LINE;
+      53           0 :   points_.push_back(eigenToMsg(ray.p1()));
+      54           0 :   points_.push_back(eigenToMsg(ray.p2()));
+      55           0 :   colors_.push_back(generateColor(r, g, b, a));
+      56           0 :   colors_.push_back(generateColor(r, g, b, a));
+      57           0 : }
+      58             : //}
+      59             : 
+      60             : /* addTriangle //{ */
+      61           0 : void VisualObject::addTriangle(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a, const bool filled) {
+      62           0 :   if (filled) {
+      63           0 :     type_ = MarkerType::TRIANGLE;
+      64           0 :     points_.push_back(eigenToMsg(triangle.a()));
+      65           0 :     points_.push_back(eigenToMsg(triangle.b()));
+      66           0 :     points_.push_back(eigenToMsg(triangle.c()));
+      67           0 :     colors_.push_back(generateColor(r, g, b, a));
+      68           0 :     colors_.push_back(generateColor(r, g, b, a));
+      69           0 :     colors_.push_back(generateColor(r, g, b, a));
+      70             :   } else {
+      71           0 :     type_ = MarkerType::LINE;
+      72           0 :     points_.push_back(eigenToMsg(triangle.a()));
+      73           0 :     points_.push_back(eigenToMsg(triangle.b()));
+      74           0 :     colors_.push_back(generateColor(r, g, b, a));
+      75           0 :     colors_.push_back(generateColor(r, g, b, a));
+      76             : 
+      77           0 :     points_.push_back(eigenToMsg(triangle.b()));
+      78           0 :     points_.push_back(eigenToMsg(triangle.c()));
+      79           0 :     colors_.push_back(generateColor(r, g, b, a));
+      80           0 :     colors_.push_back(generateColor(r, g, b, a));
+      81             : 
+      82           0 :     points_.push_back(eigenToMsg(triangle.c()));
+      83           0 :     points_.push_back(eigenToMsg(triangle.a()));
+      84           0 :     colors_.push_back(generateColor(r, g, b, a));
+      85           0 :     colors_.push_back(generateColor(r, g, b, a));
+      86             :   }
+      87           0 : }
+      88             : //}
+      89             : 
+      90             : /* addEllipse //{ */
+      91           0 : void VisualObject::addEllipse(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a, const bool filled,
+      92             :                               const int num_points) {
+      93             : 
+      94           0 :   std::vector<Eigen::Vector3d> points = buildEllipse(ellipse, num_points);
+      95           0 :   if (filled) {
+      96           0 :     for (int i = 0; i < num_points - 1; i++) {
+      97           0 :       mrs_lib::geometry::Triangle tri(ellipse.center(), points[i], points[i + 1]);
+      98           0 :       addTriangle(tri, r, g, b, a, true);
+      99             :     }
+     100           0 :     mrs_lib::geometry::Triangle tri(ellipse.center(), points[num_points - 1], points[0]);
+     101           0 :     addTriangle(tri, r, g, b, a, true);
+     102             : 
+     103             :   } else {
+     104           0 :     for (int i = 0; i < num_points - 1; i++) {
+     105           0 :       mrs_lib::geometry::Ray ray = mrs_lib::geometry::Ray::twopointCast(points[i], points[i + 1]);
+     106           0 :       addRay(ray, r, g, b, a);
+     107             :     }
+     108           0 :     mrs_lib::geometry::Ray ray = mrs_lib::geometry::Ray::twopointCast(points[num_points - 1], points[0]);
+     109           0 :     addRay(ray, r, g, b, a);
+     110             :   }
+     111           0 : }
+     112             : //}
+     113             : 
+     114             : /* Eigen::Vector3d //{ */
+     115           4 : VisualObject::VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     116           4 :                            const unsigned long& id)
+     117           4 :     : id_(id) {
+     118           4 :   type_ = MarkerType::POINT;
+     119           4 :   points_.push_back(eigenToMsg(point));
+     120           4 :   colors_.push_back(generateColor(r, g, b, a));
+     121           4 :   if (timeout.toSec() <= 0) {
+     122           4 :     timeout_time_ = ros::Time(0);
+     123             :   } else {
+     124           0 :     timeout_time_ = ros::Time::now() + timeout;
+     125             :   }
+     126           4 : }
+     127             : //}
+     128             : 
+     129             : /* mrs_lib::geometry::Ray //{ */
+     130           0 : VisualObject::VisualObject(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     131           0 :                            const unsigned long& id)
+     132           0 :     : id_(id) {
+     133           0 :   type_ = MarkerType::LINE;
+     134           0 :   addRay(ray, r, g, b, a);
+     135           0 :   if (timeout.toSec() <= 0) {
+     136           0 :     timeout_time_ = ros::Time(0);
+     137             :   } else {
+     138           0 :     timeout_time_ = ros::Time::now() + timeout;
+     139             :   }
+     140           0 : }
+     141             : //}
+     142             : 
+     143             : /* mrs_lib::geometry::Triangle //{ */
+     144           0 : VisualObject::VisualObject(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a,
+     145           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id)
+     146           0 :     : id_(id) {
+     147           0 :   addTriangle(triangle, r, g, b, a, filled);
+     148           0 :   if (timeout.toSec() <= 0) {
+     149           0 :     timeout_time_ = ros::Time(0);
+     150             :   } else {
+     151           0 :     timeout_time_ = ros::Time::now() + timeout;
+     152             :   }
+     153           0 : }
+     154             : //}
+     155             : 
+     156             : /* mrs_lib::geometry::Rectangle //{ */
+     157           0 : VisualObject::VisualObject(const mrs_lib::geometry::Rectangle& rectangle, const double r, const double g, const double b, const double a,
+     158           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id)
+     159           0 :     : id_(id) {
+     160           0 :   for (const auto& t : rectangle.triangles()) {
+     161           0 :     addTriangle(t, r, g, b, a, filled);
+     162             :   }
+     163           0 :   if (timeout.toSec() <= 0) {
+     164           0 :     timeout_time_ = ros::Time(0);
+     165             :   } else {
+     166           0 :     timeout_time_ = ros::Time::now() + timeout;
+     167             :   }
+     168           0 : }
+     169             : //}
+     170             : 
+     171             : /* mrs_lib::geometry::Cuboid //{ */
+     172           0 : VisualObject::VisualObject(const mrs_lib::geometry::Cuboid& cuboid, const double r, const double g, const double b, const double a,
+     173           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id)
+     174           0 :     : id_(id) {
+     175             : 
+     176           0 :   for (int i = 0; i < 6; i++) {
+     177           0 :     for (const auto& t : cuboid.getRectangle(i).triangles()) {
+     178           0 :       addTriangle(t, r, g, b, a, filled);
+     179             :     }
+     180             :   }
+     181           0 :   if (timeout.toSec() <= 0) {
+     182           0 :     timeout_time_ = ros::Time(0);
+     183             :   } else {
+     184           0 :     timeout_time_ = ros::Time::now() + timeout;
+     185             :   }
+     186           0 : }
+     187             : //}
+     188             : 
+     189             : /* mrs_lib::geometry::Ellipse//{ */
+     190           0 : VisualObject::VisualObject(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a,
+     191           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id, const int num_points)
+     192           0 :     : id_(id) {
+     193           0 :   addEllipse(ellipse, r, g, b, a, filled, num_points);
+     194           0 :   if (timeout.toSec() <= 0) {
+     195           0 :     timeout_time_ = ros::Time(0);
+     196             :   } else {
+     197           0 :     timeout_time_ = ros::Time::now() + timeout;
+     198             :   }
+     199           0 : }
+     200             : //}
+     201             : 
+     202             : /* mrs_lib::geometry::Cylinder //{ */
+     203           0 : VisualObject::VisualObject(const mrs_lib::geometry::Cylinder& cylinder, const double r, const double g, const double b, const double a,
+     204           0 :                            const ros::Duration& timeout, const bool filled, const bool capped, const unsigned long& id, const int num_sides)
+     205           0 :     : id_(id) {
+     206           0 :   if (capped) {
+     207           0 :     mrs_lib::geometry::Ellipse top    = cylinder.getCap(mrs_lib::geometry::Cylinder::TOP);
+     208           0 :     mrs_lib::geometry::Ellipse bottom = cylinder.getCap(mrs_lib::geometry::Cylinder::BOTTOM);
+     209           0 :     addEllipse(top, r, g, b, a, filled, num_sides);
+     210           0 :     addEllipse(bottom, r, g, b, a, filled, num_sides);
+     211             :   }
+     212           0 :   std::vector<Eigen::Vector3d> top_points    = buildEllipse(cylinder.getCap(mrs_lib::geometry::Cylinder::TOP), num_sides);
+     213           0 :   std::vector<Eigen::Vector3d> bottom_points = buildEllipse(cylinder.getCap(mrs_lib::geometry::Cylinder::BOTTOM), num_sides);
+     214           0 :   for (unsigned int i = 0; i < top_points.size() - 1; i++) {
+     215           0 :     mrs_lib::geometry::Rectangle rect(bottom_points[i], bottom_points[i + 1], top_points[i + 1], top_points[i]);
+     216           0 :     addTriangle(rect.triangles()[0], r, g, b, a, filled);
+     217           0 :     addTriangle(rect.triangles()[1], r, g, b, a, filled);
+     218             :   }
+     219           0 :   mrs_lib::geometry::Rectangle rect(bottom_points[bottom_points.size() - 1], bottom_points[0], top_points[0], top_points[top_points.size() - 1]);
+     220           0 :   addTriangle(rect.triangles()[0], r, g, b, a, filled);
+     221           0 :   addTriangle(rect.triangles()[1], r, g, b, a, filled);
+     222           0 :   if (timeout.toSec() <= 0) {
+     223           0 :     timeout_time_ = ros::Time(0);
+     224             :   } else {
+     225           0 :     timeout_time_ = ros::Time::now() + timeout;
+     226             :   }
+     227           0 : }
+     228             : //}
+     229             : 
+     230             : /* mrs_lib::geometry::Cone //{ */
+     231           0 : VisualObject::VisualObject(const mrs_lib::geometry::Cone& cone, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     232           0 :                            const bool filled, const bool capped, const unsigned long& id, const int num_sides)
+     233           0 :     : id_(id) {
+     234           0 :   if (capped) {
+     235           0 :     mrs_lib::geometry::Ellipse cap = cone.getCap();
+     236           0 :     addEllipse(cap, r, g, b, a, filled, num_sides);
+     237             :   }
+     238           0 :   std::vector<Eigen::Vector3d> cap_points = buildEllipse(cone.getCap(), num_sides);
+     239           0 :   for (unsigned int i = 0; i < cap_points.size() - 1; i++) {
+     240           0 :     mrs_lib::geometry::Triangle tri(cap_points[i], cap_points[i + 1], cone.origin());
+     241           0 :     addTriangle(tri, r, g, b, a, filled);
+     242             :   }
+     243           0 :   mrs_lib::geometry::Triangle tri(cap_points[cap_points.size() - 1], cap_points[0], cone.origin());
+     244           0 :   addTriangle(tri, r, g, b, a, filled);
+     245           0 :   if (timeout.toSec() <= 0) {
+     246           0 :     timeout_time_ = ros::Time(0);
+     247             :   } else {
+     248           0 :     timeout_time_ = ros::Time::now() + timeout;
+     249             :   }
+     250           0 : }
+     251             : //}
+     252             : 
+     253             : /* mrs_msgs::TrajectoryReference //{ */
+     254           0 : VisualObject::VisualObject(const mrs_msgs::TrajectoryReference& traj, const double r, const double g, const double b, const double a,
+     255           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id)
+     256           0 :     : id_(id) {
+     257           0 :   if (traj.points.size() < 2) {
+     258           0 :     return;
+     259             :   }
+     260           0 :   if (filled) {
+     261           0 :     for (size_t i = 0; i < traj.points.size() - 1; i++) {
+     262           0 :       Eigen::Vector3d p1, p2;
+     263           0 :       p1.x()   = traj.points[i].position.x;
+     264           0 :       p1.y()   = traj.points[i].position.y;
+     265           0 :       p1.z()   = traj.points[i].position.z;
+     266           0 :       p2.x()   = traj.points[i + 1].position.x;
+     267           0 :       p2.y()   = traj.points[i + 1].position.y;
+     268           0 :       p2.z()   = traj.points[i + 1].position.z;
+     269           0 :       auto ray = mrs_lib::geometry::Ray::twopointCast(p1, p2);
+     270           0 :       addRay(ray, r, g, b, a);
+     271             :     }
+     272             :   } else {
+     273           0 :     type_ = MarkerType::POINT;
+     274           0 :     for (size_t i = 0; i < traj.points.size(); i++) {
+     275           0 :       points_.push_back(traj.points[i].position);
+     276           0 :       colors_.push_back(generateColor(r, g, b, a));
+     277             :     }
+     278             :   }
+     279           0 :   if (timeout.toSec() <= 0) {
+     280           0 :     timeout_time_ = ros::Time(0);
+     281             :   } else {
+     282           0 :     timeout_time_ = ros::Time::now() + timeout;
+     283             :   }
+     284             : }
+     285             : //}
+     286             : 
+     287             : /* getID //{ */
+     288           0 : unsigned long VisualObject::getID() const {
+     289           0 :   return id_;
+     290             : }
+     291             : //}
+     292             : 
+     293             : /* getType //{ */
+     294           4 : int VisualObject::getType() const {
+     295           4 :   return type_;
+     296             : }
+     297             : //}
+     298             : 
+     299             : /* isTimedOut //{ */
+     300           4 : bool VisualObject::isTimedOut() const {
+     301           4 :   return !timeout_time_.isZero() && (timeout_time_ - ros::Time::now()).toSec() <= 0;
+     302             : }
+     303             : //}
+     304             : 
+     305             : /* getPoints //{ */
+     306           4 : const std::vector<geometry_msgs::Point> VisualObject::getPoints() const {
+     307           4 :   return points_;
+     308             : }
+     309             : //}
+     310             : 
+     311             : /* getColors //{ */
+     312           4 : const std::vector<std_msgs::ColorRGBA> VisualObject::getColors() const {
+     313           4 :   return colors_;
+     314             : }
+     315             : //}
+     316             : 
+     317             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.png b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..af38cbc0ca11fc9d3c74d943d142de04550935b1 GIT binary patch literal 1166 zcmV;91abR`P)0GscesKPK=aG>FH;9Jv{QJ-20V9)iEvnYI9TmjjMN#B7W1 z`m{ePt})Nh+_qPqYlP&P+1n=;XbdL_3v{xx4*{|y`5tqZM}*qf!f^;J*mwZXOapYc zI-1!N+mPP%=jEgZ7Mi9u9(xWh%^(#(OcA^vB%b`M}UQsl0E zEh2aAE9Yl`tPZaL_F^&DqsABhhEBjhD0-xY=y54R-w-~0t8Nu zktT6X5X}0V3Z!ioXV19UvFu3Mgl-^s)Ietpa2P(YSfEaa*vu%$o-iDXlJbOeEl>M> zQ)%X$98HsI)-3}gCz5#1$gxj3%W*{cFZs11PkEtM&ws4`ck{=kDNw_cmoMj0QEP$j z-ECOwy0UpI^8_*wH@0^MxVq63umu)AS7E4@nF!kix*li&tITi!CVND67n2NYjY2)E z&>cMn&YRijBZ9rnH0Kb4nhAllG!p}CU9@KLxO7hy?B@!fq5r4vOad$N$3(xMu+OBf z-)lX;AxMovm1I4okm^`ZLYQc2q2`*fo8HbPGZTO(%}mIWL^F$);|^DtnN~b?8g7K1W5P}>H?h``R#~n- z4_7Z3-WDzbPg?lbNeeFt*tK8R@^LK%eFMCWLI9pMieH*?P0WWkLkuKHqrheci34JD zq}501EeFWJIs(qDb76VIPNOsnJeYZnn5FoIKd9q9o}?i&nsrW-j%cchG7r1ZV;}gA zcrXbQ*SR#5nZ>3)@QytK@LcSX=B0>Ys&mK*m*Fz|l8{A*^y2!7*pvLL8!3h%<*i7; zOvj%N0M#ypWPRZlH`m-r3(qk_qO$kt$c&2e?XCmh*;JwLu|#L>W%k(1QiUXHx$qGu z{|a!f5LYiYVIQQGT2*rao$sVTlp8Sk>w%r1cO9^^fK%^%IVS(Jb^j)#bJ*u~IU9;&+wE;SsN@M?=+~elCG3y`S^{HXI+Eg5t9y`lfVLxtv zt*!voD`!{jbyaM gbNzfgRewzKA60I + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/conversions.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/geometry - conversions.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:324669.6 %
Date:2023-12-06 10:06:33Functions:71070.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::toEigenMatrix(boost::array<double, 36ul> const&)0
mrs_lib::geometry::toCV(geometry_msgs::Vector3_<std::allocator<void> > const&)0
mrs_lib::geometry::fromEigen(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_lib::geometry::toCV(geometry_msgs::Point_<std::allocator<void> > const&)1
mrs_lib::geometry::fromCV(cv::Point3_<double> const&)1
mrs_lib::geometry::toEigen(geometry_msgs::Vector3_<std::allocator<void> > const&)19
mrs_lib::geometry::fromEigenVec(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)22
mrs_lib::geometry::toEigen(geometry_msgs::Point_<std::allocator<void> > const&)28
mrs_lib::geometry::toEigen(geometry_msgs::Quaternion_<std::allocator<void> > const&)29207
mrs_lib::geometry::fromEigen(Eigen::Quaternion<double, 0> const&)29207
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Current view:top level - mrs_lib/src/geometry - conversions.cpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::fromEigenVec(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)22
mrs_lib::geometry::toEigenMatrix(boost::array<double, 36ul> const&)0
mrs_lib::geometry::toCV(geometry_msgs::Point_<std::allocator<void> > const&)1
mrs_lib::geometry::toCV(geometry_msgs::Vector3_<std::allocator<void> > const&)0
mrs_lib::geometry::fromCV(cv::Point3_<double> const&)1
mrs_lib::geometry::toEigen(geometry_msgs::Quaternion_<std::allocator<void> > const&)29207
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&)29207
mrs_lib::geometry::fromEigen(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
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Date:2023-12-06 10:06:33Functions: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       29207 :     geometry_msgs::Quaternion fromEigen(const Eigen::Quaterniond& what)
+      48             :     {
+      49       29207 :       geometry_msgs::Quaternion q;
+      50       29207 :       q.x = what.x();
+      51       29207 :       q.y = what.y();
+      52       29207 :       q.z = what.z();
+      53       29207 :       q.w = what.w();
+      54       29207 :       return q;
+      55             :     }
+      56             :     
+      57       29207 :     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       29207 :       Eigen::Quaterniond q;
+      61       29207 :       q.x() = what.x;
+      62       29207 :       q.y() = what.y;
+      63       29207 :       q.z() = what.z;
+      64       29207 :       q.w() = what.w;
+      65       29207 :       return q;
+      66             :     }
+      67             :     
+      68             :     //}
+      69             : 
+      70             :     /* conversions from/to OpenCV //{ */
+      71             :     
+      72           1 :     geometry_msgs::Point fromCV(const cv::Point3d& what)
+      73             :     {
+      74           1 :       geometry_msgs::Point pt;
+      75           1 :       pt.x = what.x;
+      76           1 :       pt.y = what.y;
+      77           1 :       pt.z = what.z;
+      78           1 :       return pt;
+      79             :     }
+      80             :     
+      81           1 :     cv::Point3d toCV(const geometry_msgs::Point& what)
+      82             :     {
+      83           1 :       return {what.x, what.y, what.z};
+      84             :     }
+      85             :     
+      86           0 :     cv::Point3d toCV(const geometry_msgs::Vector3& what)
+      87             :     {
+      88           0 :       return {what.x, what.y, what.z};
+      89             :     }
+      90             :     
+      91             :     //}
+      92             : 
+      93             :   }
+      94             : }
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::solidAngle(double, double, double)0
mrs_lib::geometry::invHaversin(double)0
mrs_lib::geometry::triangleArea(double, double, double)0
mrs_lib::geometry::quaternionBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)0
mrs_lib::geometry::quaternionFromEuler(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_lib::geometry::quaternionFromEuler(double, double, double)0
mrs_lib::geometry::sphericalTriangleArea(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::dist(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_lib::geometry::haversin(double)0
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)3
mrs_lib::geometry::rotationBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)3
mrs_lib::geometry::angleaxisBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)3
mrs_lib::geometry::cross(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1>)3
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)2140
mrs_lib::geometry::quaternionFromHeading(double)29213
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)66269
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Test:MRS UAV System - Test coverage reportLines:336451.6 %
Date:2023-12-06 10:06:33Functions:71643.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::solidAngle(double, double, double)0
mrs_lib::geometry::invHaversin(double)0
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)3
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)2140
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)29213
mrs_lib::geometry::sphericalTriangleArea(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::dist(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)66269
mrs_lib::geometry::cross(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1>)3
mrs_lib::geometry::haversin(double)0
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Date:2023-12-06 10:06:33Functions:71643.8 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : #include <mrs_lib/geometry/misc.h>
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             :   namespace geometry
+       7             :   {
+       8             : 
+       9             :     // instantiation of common template values
+      10             :     vec_t<3 + 1> toHomogenous(const vec_t<3>& vec);
+      11             :     vec_t<2 + 1> toHomogenous(const vec_t<2>& vec);
+      12             : 
+      13             :     // | ----------------- Angle-related functions ---------------- |
+      14             : 
+      15             :     /* angle-related functions //{ */
+      16             : 
+      17             :     /* cross() //{ */
+      18             : 
+      19           3 :     double cross(const vec2_t& vec1, const vec2_t vec2)
+      20             :     {
+      21           3 :       return vec1.x() * vec2.y() - vec1.y() * vec2.x();
+      22             :     }
+      23             : 
+      24             :     //}
+      25             : 
+      26             :     /* angleBetween() //{ */
+      27             : 
+      28        2140 :     double angleBetween(const vec3_t& vec1, const vec3_t& vec2)
+      29             :     {
+      30        2140 :       const double sin_12 = vec1.cross(vec2).norm();
+      31        2140 :       const double cos_12 = vec1.dot(vec2);
+      32        2140 :       const double angle = std::atan2(sin_12, cos_12);
+      33        2140 :       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       29213 :     quat_t quaternionFromHeading(const double heading)
+      93             :     {
+      94       58426 :       return quat_t(anax_t(heading, Eigen::Vector3d::UnitZ()));
+      95             :     }
+      96             :     //}
+      97             : 
+      98             :     //}
+      99             : 
+     100             :     /* rotationBetween() //{ */
+     101             : 
+     102           3 :     Eigen::Matrix3d rotationBetween(const Eigen::Vector3d& vec1, const Eigen::Vector3d& vec2, const double tolerance)
+     103             :     {
+     104           3 :       const auto rot = angleaxisBetween(vec1, vec2, tolerance);
+     105           3 :       const Eigen::Matrix3d ret(rot);
+     106           6 :       return ret;
+     107             :     }
+     108             : 
+     109             :     //}
+     110             : 
+     111             :     /* haversin() //{ */
+     112             : 
+     113           0 :     double haversin(const double angle)
+     114             :     {
+     115           0 :       return (1.0 - std::cos(angle)) / 2.0;
+     116             :     }
+     117             : 
+     118             :     //}
+     119             : 
+     120             :     /* invHaversin() //{ */
+     121             : 
+     122           0 :     double invHaversin(const double value)
+     123             :     {
+     124           0 :       return 2.0 * std::asin(std::sqrt(value));
+     125             :     }
+     126             : 
+     127             :     //}
+     128             : 
+     129             :     /* solidAngle() //{ */
+     130           0 :     double solidAngle(double a, double b, double c)
+     131             :     {
+     132           0 :       return invHaversin((haversin(c) - haversin(a - b)) / (std::sin(a) * std::sin(b)));
+     133             :     }
+     134             :     //}
+     135             : 
+     136             :     //}
+     137             : 
+     138             :     /* triangleArea() //{ */
+     139             : 
+     140           0 :     double triangleArea(const double a, const double b, const double c)
+     141             :     {
+     142           0 :       double s = (a + b + c) / 2.0;
+     143           0 :       return std::sqrt(s * (s - a) * (s - b) * (s - c));
+     144             :     }
+     145             : 
+     146             :     //}
+     147             : 
+     148             :     /* sphericalTriangleArea //{ */
+     149           0 :     double sphericalTriangleArea(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c)
+     150             :     {
+     151           0 :       double ab = angleBetween(a, b);
+     152           0 :       double bc = angleBetween(b, c);
+     153           0 :       double ca = angleBetween(c, a);
+     154             : 
+     155           0 :       if (ab < 1e-3 and bc < 1e-3 and ca < 1e-3)
+     156             :       {
+     157           0 :         return triangleArea(ab, bc, ca);
+     158             :       }
+     159             : 
+     160           0 :       double A = solidAngle(ca, ab, bc);
+     161           0 :       double B = solidAngle(ab, bc, ca);
+     162           0 :       double C = solidAngle(bc, ca, ab);
+     163             : 
+     164           0 :       return A + B + C - M_PI;
+     165             :     }
+     166             :     //}
+     167             : 
+     168             :     /* vector distance //{ */
+     169             : 
+     170           0 :     double dist(const vec2_t& a, const vec2_t& b)
+     171             :     {
+     172             : 
+     173           0 :       return (a - b).norm();
+     174             :     }
+     175             : 
+     176       66269 :     double dist(const vec3_t& a, const vec3_t& b)
+     177             :     {
+     178             : 
+     179       66269 :       return (a - b).norm();
+     180             :     }
+     181             : 
+     182             :     //}
+     183             : 
+     184             :   }  // namespace geometry
+     185             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/geometry/misc.cpp.gcov.overview.html b/mrs_lib/src/geometry/misc.cpp.gcov.overview.html new file mode 100644 index 0000000000..bdcd7dc00e --- /dev/null +++ b/mrs_lib/src/geometry/misc.cpp.gcov.overview.html @@ -0,0 +1,67 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/misc.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_lib/src/geometry/misc.cpp.gcov.png b/mrs_lib/src/geometry/misc.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..8118e0b3b14707468e51b536c53b3fd75d30c55a GIT binary patch literal 760 zcmVi;~Z+NCa7s z+`}tGDv?9e60itJR2Ge^S6M%{VTVw|6uq!RendT&)SOb2s(}qQI&B19>_ghFI?_X) z6RT7W(WGTv8Dkq`=DgWs7srZ30E7Q8MF6eJeOGGzZKuW-dWJ7u>q092M(9I?Gexta z+TV2&zH6pi)<~akQ_0g~vT1@dEf>9%shPsHh2jZ5U)YUFpY7 z^avxVt{SSy>q;-nle{OUR(Thy0Z@2d`nn5PT0NQk`4CvO9!qR0ps60)^}rgq;;8bH zvvKqMxDbmq9zsrlQwcwjz=1^q&+{ltV52wkipM&7-W9H6It$5n;1PQd_Ru1LP236ElC+?{%CJiJQh6EIX7SMfH_^e+m$DxOXz zoe-MTN8@>djMqoYtfxldT^Po-klA)U&Ed@rdt6?_($td8CeSmH@G<)-MPtNYu2X66 zNH8t33c;>l!>xMo<)ZoL-}i(xTE~RfF3)fdLN3xt;zEf=r!xY+ zC=^QhCv7xQP-q`C_PB;e@Cx!@oCB=4Q3WQPfG$ZcmB6ZL>-{zE(jmX0s@GU8hh5 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2023-12-06 10:06:33Functions:0680.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::Ray::twopointCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::directionCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray()0
mrs_lib::geometry::Ray::~Ray()0
mrs_lib::geometry::Cone::Cone(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cone::Cone()0
mrs_lib::geometry::Cone::~Cone()0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cuboid::Cuboid(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Cuboid::Cuboid()0
mrs_lib::geometry::Cuboid::~Cuboid()0
mrs_lib::geometry::Ellipse::Ellipse(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>, double, double)0
mrs_lib::geometry::Ellipse::Ellipse()0
mrs_lib::geometry::Ellipse::~Ellipse()0
mrs_lib::geometry::Cylinder::Cylinder(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cylinder::Cylinder()0
mrs_lib::geometry::Cylinder::~Cylinder()0
mrs_lib::geometry::Triangle::Triangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Triangle::Triangle()0
mrs_lib::geometry::Triangle::~Triangle()0
mrs_lib::geometry::Rectangle::Rectangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Rectangle::Rectangle(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Rectangle::Rectangle()0
mrs_lib::geometry::Rectangle::~Rectangle()0
mrs_lib::geometry::Ray::p1() const0
mrs_lib::geometry::Ray::p2() const0
mrs_lib::geometry::Ray::direction() const0
mrs_lib::geometry::Cone::projectPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const0
mrs_lib::geometry::Cone::h() const0
mrs_lib::geometry::Cone::theta() const0
mrs_lib::geometry::Cone::center() const0
mrs_lib::geometry::Cone::getCap() const0
mrs_lib::geometry::Cone::origin() const0
mrs_lib::geometry::Cone::direction() const0
mrs_lib::geometry::Cuboid::getRectangle(int) const0
mrs_lib::geometry::Cuboid::lookupPoints(int) const0
mrs_lib::geometry::Cuboid::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Cuboid::center() const0
mrs_lib::geometry::Cuboid::vertices() const0
mrs_lib::geometry::Ellipse::orientation() const0
mrs_lib::geometry::Ellipse::a() const0
mrs_lib::geometry::Ellipse::b() const0
mrs_lib::geometry::Ellipse::center() const0
mrs_lib::geometry::Cylinder::orientation() const0
mrs_lib::geometry::Cylinder::h() const0
mrs_lib::geometry::Cylinder::r() const0
mrs_lib::geometry::Cylinder::center() const0
mrs_lib::geometry::Cylinder::getCap(int) const0
mrs_lib::geometry::Triangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Triangle::a() const0
mrs_lib::geometry::Triangle::b() const0
mrs_lib::geometry::Triangle::c() const0
mrs_lib::geometry::Triangle::center() const0
mrs_lib::geometry::Triangle::normal() const0
mrs_lib::geometry::Triangle::vertices() const0
mrs_lib::geometry::Rectangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Rectangle::a() const0
mrs_lib::geometry::Rectangle::b() const0
mrs_lib::geometry::Rectangle::c() const0
mrs_lib::geometry::Rectangle::d() const0
mrs_lib::geometry::Rectangle::solidAngleRelativeTo(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::center() const0
mrs_lib::geometry::Rectangle::normal() const0
mrs_lib::geometry::Rectangle::isFacing(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::vertices() const0
mrs_lib::geometry::Rectangle::triangles() const0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/geometry/shapes.cpp.func.html b/mrs_lib/src/geometry/shapes.cpp.func.html new file mode 100644 index 0000000000..01f5e98388 --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.func.html @@ -0,0 +1,352 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2023-12-06 10:06:33Functions:0680.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::Ray::twopointCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::directionCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray()0
mrs_lib::geometry::Ray::~Ray()0
mrs_lib::geometry::Cone::Cone(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cone::Cone()0
mrs_lib::geometry::Cone::~Cone()0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cuboid::Cuboid(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Cuboid::Cuboid()0
mrs_lib::geometry::Cuboid::~Cuboid()0
mrs_lib::geometry::Ellipse::Ellipse(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>, double, double)0
mrs_lib::geometry::Ellipse::Ellipse()0
mrs_lib::geometry::Ellipse::~Ellipse()0
mrs_lib::geometry::Cylinder::Cylinder(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cylinder::Cylinder()0
mrs_lib::geometry::Cylinder::~Cylinder()0
mrs_lib::geometry::Triangle::Triangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Triangle::Triangle()0
mrs_lib::geometry::Triangle::~Triangle()0
mrs_lib::geometry::Rectangle::Rectangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Rectangle::Rectangle(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Rectangle::Rectangle()0
mrs_lib::geometry::Rectangle::~Rectangle()0
mrs_lib::geometry::Ray::p1() const0
mrs_lib::geometry::Ray::p2() const0
mrs_lib::geometry::Ray::direction() const0
mrs_lib::geometry::Cone::projectPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const0
mrs_lib::geometry::Cone::h() const0
mrs_lib::geometry::Cone::theta() const0
mrs_lib::geometry::Cone::center() const0
mrs_lib::geometry::Cone::getCap() const0
mrs_lib::geometry::Cone::origin() const0
mrs_lib::geometry::Cone::direction() const0
mrs_lib::geometry::Cuboid::getRectangle(int) const0
mrs_lib::geometry::Cuboid::lookupPoints(int) const0
mrs_lib::geometry::Cuboid::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Cuboid::center() const0
mrs_lib::geometry::Cuboid::vertices() const0
mrs_lib::geometry::Ellipse::orientation() const0
mrs_lib::geometry::Ellipse::a() const0
mrs_lib::geometry::Ellipse::b() const0
mrs_lib::geometry::Ellipse::center() const0
mrs_lib::geometry::Cylinder::orientation() const0
mrs_lib::geometry::Cylinder::h() const0
mrs_lib::geometry::Cylinder::r() const0
mrs_lib::geometry::Cylinder::center() const0
mrs_lib::geometry::Cylinder::getCap(int) const0
mrs_lib::geometry::Triangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Triangle::a() const0
mrs_lib::geometry::Triangle::b() const0
mrs_lib::geometry::Triangle::c() const0
mrs_lib::geometry::Triangle::center() const0
mrs_lib::geometry::Triangle::normal() const0
mrs_lib::geometry::Triangle::vertices() const0
mrs_lib::geometry::Rectangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Rectangle::a() const0
mrs_lib::geometry::Rectangle::b() const0
mrs_lib::geometry::Rectangle::c() const0
mrs_lib::geometry::Rectangle::d() const0
mrs_lib::geometry::Rectangle::solidAngleRelativeTo(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::center() const0
mrs_lib::geometry::Rectangle::normal() const0
mrs_lib::geometry::Rectangle::isFacing(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::vertices() const0
mrs_lib::geometry::Rectangle::triangles() const0
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/geometry/shapes.cpp.gcov.frameset.html b/mrs_lib/src/geometry/shapes.cpp.gcov.frameset.html new file mode 100644 index 0000000000..d1dafd1fc9 --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/geometry/shapes.cpp.gcov.html b/mrs_lib/src/geometry/shapes.cpp.gcov.html new file mode 100644 index 0000000000..c96d4305a5 --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.gcov.html @@ -0,0 +1,730 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2023-12-06 10:06:33Functions:0680.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : #include <mrs_lib/geometry/shapes.h>
+       3             : #include <mrs_lib/geometry/misc.h>
+       4             : 
+       5             : namespace mrs_lib
+       6             : {
+       7             :   namespace geometry
+       8             :   {
+       9             : 
+      10             :     /* Ray //{ */
+      11             : 
+      12             :     /* constructors //{ */
+      13           0 :     Ray::Ray()
+      14             :     {
+      15           0 :       point1 = Eigen::Vector3d::Zero();
+      16           0 :       point2 = Eigen::Vector3d::Zero();
+      17           0 :     }
+      18             : 
+      19           0 :     Ray::Ray(Eigen::Vector3d p1, Eigen::Vector3d p2)
+      20             :     {
+      21           0 :       point1 = p1;
+      22           0 :       point2 = p2;
+      23           0 :     }
+      24             : 
+      25           0 :     Ray::~Ray()
+      26             :     {
+      27           0 :     }
+      28             :     //}
+      29             : 
+      30             :     /* getters //{ */
+      31           0 :     const Eigen::Vector3d Ray::p1() const
+      32             :     {
+      33           0 :       return point1;
+      34             :     }
+      35             : 
+      36           0 :     const Eigen::Vector3d Ray::p2() const
+      37             :     {
+      38           0 :       return point2;
+      39             :     }
+      40             : 
+      41           0 :     const Eigen::Vector3d Ray::direction() const
+      42             :     {
+      43           0 :       return (point2 - point1);
+      44             :     }
+      45             :     //}
+      46             : 
+      47             :     /* raycasting //{ */
+      48           0 :     Ray Ray::twopointCast(Eigen::Vector3d pointFrom, Eigen::Vector3d pointTo)
+      49             :     {
+      50           0 :       return Ray(pointFrom, pointTo);
+      51             :     }
+      52             : 
+      53           0 :     Ray Ray::directionCast(Eigen::Vector3d origin, Eigen::Vector3d direction)
+      54             :     {
+      55           0 :       return Ray(origin, origin + direction);
+      56             :     }
+      57             :     //}
+      58             : 
+      59             :     //}
+      60             : 
+      61             :     /* Triangle //{ */
+      62             : 
+      63             :     /* constructors //{ */
+      64           0 :     Triangle::Triangle()
+      65             :     {
+      66           0 :       point1 = Eigen::Vector3d(0, 0, 0);
+      67           0 :       point2 = Eigen::Vector3d(1, 0, 0);
+      68           0 :       point3 = Eigen::Vector3d(0, 0, 1);
+      69           0 :     }
+      70             : 
+      71           0 :     Triangle::Triangle(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c)
+      72             :     {
+      73           0 :       point1 = a;
+      74           0 :       point2 = b;
+      75           0 :       point3 = c;
+      76           0 :     }
+      77             : 
+      78           0 :     Triangle::~Triangle()
+      79             :     {
+      80           0 :     }
+      81             :     //}
+      82             : 
+      83             :     /* getters //{ */
+      84           0 :     const Eigen::Vector3d Triangle::a() const
+      85             :     {
+      86           0 :       return point1;
+      87             :     }
+      88             : 
+      89           0 :     const Eigen::Vector3d Triangle::b() const
+      90             :     {
+      91           0 :       return point2;
+      92             :     }
+      93             : 
+      94           0 :     const Eigen::Vector3d Triangle::c() const
+      95             :     {
+      96           0 :       return point3;
+      97             :     }
+      98             : 
+      99           0 :     const Eigen::Vector3d Triangle::normal() const
+     100             :     {
+     101           0 :       Eigen::Vector3d n;
+     102           0 :       n = (point2 - point1).cross(point3 - point1);
+     103           0 :       return n.normalized();
+     104             :     }
+     105             : 
+     106           0 :     const Eigen::Vector3d Triangle::center() const
+     107             :     {
+     108           0 :       return (point1 + point2 + point3) / 3.0;
+     109             :     }
+     110             : 
+     111           0 :     const std::vector<Eigen::Vector3d> Triangle::vertices() const
+     112             :     {
+     113           0 :       std::vector<Eigen::Vector3d> vertices;
+     114           0 :       vertices.push_back(point1);
+     115           0 :       vertices.push_back(point2);
+     116           0 :       vertices.push_back(point3);
+     117           0 :       return vertices;
+     118             :     }
+     119             :     //}
+     120             : 
+     121             :     /* intersectionRay //{ */
+     122           0 :     const boost::optional<Eigen::Vector3d> Triangle::intersectionRay(Ray r, double epsilon) const
+     123             :     {
+     124             :       // The Möller–Trumbore algorithm
+     125             :       // https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
+     126           0 :       Eigen::Vector3d v1 = point2 - point1;
+     127           0 :       Eigen::Vector3d v2 = point3 - point1;
+     128           0 :       Eigen::Vector3d h = r.direction().cross(v2);
+     129           0 :       double res = v1.dot(h);
+     130           0 :       if (res > -epsilon && res < epsilon)
+     131             :       {
+     132           0 :         return boost::none;
+     133             :       }
+     134           0 :       double f = 1.0 / res;
+     135           0 :       Eigen::Vector3d s = r.p1() - point1;
+     136           0 :       double u = f * s.dot(h);
+     137           0 :       if (u < 0.0 || u > 1.0)
+     138             :       {
+     139           0 :         return boost::none;
+     140             :       }
+     141           0 :       Eigen::Vector3d q = s.cross(v1);
+     142           0 :       double v = f * r.direction().dot(q);
+     143           0 :       if (v < 0.0 || u + v > 1.0)
+     144             :       {
+     145           0 :         return boost::none;
+     146             :       }
+     147           0 :       double t = f * v2.dot(q);
+     148           0 :       if (t > epsilon)
+     149             :       {
+     150           0 :         Eigen::Vector3d ret = r.p1() + r.direction() * t;
+     151           0 :         return ret;
+     152             :       }
+     153           0 :       return boost::none;
+     154             :     }
+     155             :     //}
+     156             : 
+     157             :     //}
+     158             : 
+     159             :     /* Rectangle //{ */
+     160             : 
+     161             :     /* constructors //{ */
+     162           0 :     Rectangle::Rectangle()
+     163             :     {
+     164           0 :       point1 = Eigen::Vector3d(0, 0, 0);
+     165           0 :       point2 = Eigen::Vector3d(1, 0, 0);
+     166           0 :       point3 = Eigen::Vector3d(1, 1, 0);
+     167           0 :       point4 = Eigen::Vector3d(0, 1, 0);
+     168           0 :     }
+     169             : 
+     170           0 :     Rectangle::Rectangle(std::vector<Eigen::Vector3d> points)
+     171             :     {
+     172           0 :       point1 = points[0];
+     173           0 :       point2 = points[1];
+     174           0 :       point3 = points[2];
+     175           0 :       point4 = points[3];
+     176           0 :     }
+     177             : 
+     178           0 :     Rectangle::Rectangle(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c, Eigen::Vector3d d)
+     179             :     {
+     180           0 :       point1 = a;
+     181           0 :       point2 = b;
+     182           0 :       point3 = c;
+     183           0 :       point4 = d;
+     184           0 :     }
+     185             : 
+     186           0 :     Rectangle::~Rectangle()
+     187             :     {
+     188           0 :     }
+     189             :     //}
+     190             : 
+     191             :     /* getters //{ */
+     192           0 :     const Eigen::Vector3d Rectangle::a() const
+     193             :     {
+     194           0 :       return point1;
+     195             :     }
+     196             : 
+     197           0 :     const Eigen::Vector3d Rectangle::b() const
+     198             :     {
+     199           0 :       return point2;
+     200             :     }
+     201             : 
+     202           0 :     const Eigen::Vector3d Rectangle::c() const
+     203             :     {
+     204           0 :       return point3;
+     205             :     }
+     206             : 
+     207           0 :     const Eigen::Vector3d Rectangle::d() const
+     208             :     {
+     209           0 :       return point4;
+     210             :     }
+     211             : 
+     212           0 :     const Eigen::Vector3d Rectangle::center() const
+     213             :     {
+     214           0 :       return (point1 + point2 + point3 + point4) / 4.0;
+     215             :     }
+     216             : 
+     217           0 :     const Eigen::Vector3d Rectangle::normal() const
+     218             :     {
+     219           0 :       Eigen::Vector3d n;
+     220           0 :       n = (point2 - point1).cross(point4 - point1);
+     221           0 :       return n.normalized();
+     222             :     }
+     223             : 
+     224           0 :     const std::vector<Eigen::Vector3d> Rectangle::vertices() const
+     225             :     {
+     226           0 :       std::vector<Eigen::Vector3d> vertices;
+     227           0 :       vertices.push_back(point1);
+     228           0 :       vertices.push_back(point2);
+     229           0 :       vertices.push_back(point3);
+     230           0 :       vertices.push_back(point4);
+     231           0 :       return vertices;
+     232             :     }
+     233             : 
+     234           0 :     const std::vector<Triangle> Rectangle::triangles() const
+     235             :     {
+     236           0 :       Triangle t1(point1, point2, point3);
+     237           0 :       Triangle t2(point1, point3, point4);
+     238             : 
+     239           0 :       std::vector<Triangle> triangles;
+     240           0 :       triangles.push_back(t1);
+     241           0 :       triangles.push_back(t2);
+     242           0 :       return triangles;
+     243             :     }
+     244             :     //}
+     245             : 
+     246             :     /* intersectionRay //{ */
+     247           0 :     const boost::optional<Eigen::Vector3d> Rectangle::intersectionRay(Ray r, double epsilon) const
+     248             :     {
+     249           0 :       Triangle t1 = triangles()[0];
+     250           0 :       Triangle t2 = triangles()[1];
+     251           0 :       auto result = t1.intersectionRay(r, epsilon);
+     252           0 :       if (result != boost::none)
+     253             :       {
+     254           0 :         return result;
+     255             :       }
+     256           0 :       return t2.intersectionRay(r, epsilon);
+     257             :     }
+     258             :     //}
+     259             : 
+     260             :     /* isFacing //{ */
+     261           0 :     bool Rectangle::isFacing(Eigen::Vector3d point) const
+     262             :     {
+     263           0 :       Eigen::Vector3d towards_point = point - center();
+     264           0 :       double dot_product = towards_point.dot(normal());
+     265           0 :       return dot_product > 0;
+     266             :     }
+     267             : 
+     268             :     //}
+     269             : 
+     270             :     /* solidAngleRelativeTo //{ */
+     271           0 :     double Rectangle::solidAngleRelativeTo(Eigen::Vector3d point) const
+     272             :     {
+     273           0 :       Eigen::Vector3d a = point1 - point;
+     274           0 :       Eigen::Vector3d b = point2 - point;
+     275           0 :       Eigen::Vector3d c = point3 - point;
+     276           0 :       Eigen::Vector3d d = point4 - point;
+     277             : 
+     278           0 :       a.normalize();
+     279           0 :       b.normalize();
+     280           0 :       c.normalize();
+     281           0 :       d.normalize();
+     282             : 
+     283           0 :       double t1 = mrs_lib::geometry::sphericalTriangleArea(a, b, c);
+     284           0 :       double t2 = mrs_lib::geometry::sphericalTriangleArea(c, d, a);
+     285             : 
+     286           0 :       return t1 + t2;
+     287             :     }
+     288             :     //}
+     289             : 
+     290             :     //}
+     291             : 
+     292             :     /* Cuboid //{ */
+     293             : 
+     294             :     /* constructors //{ */
+     295           0 :     Cuboid::Cuboid()
+     296             :     {
+     297           0 :       for (int i = 0; i < 8; i++)
+     298             :       {
+     299           0 :         points.push_back(Eigen::Vector3d::Zero());
+     300             :       }
+     301           0 :     }
+     302             : 
+     303           0 :     Cuboid::Cuboid(Eigen::Vector3d p0, Eigen::Vector3d p1, Eigen::Vector3d p2, Eigen::Vector3d p3, Eigen::Vector3d p4, Eigen::Vector3d p5, Eigen::Vector3d p6,
+     304           0 :                    Eigen::Vector3d p7)
+     305             :     {
+     306           0 :       points.push_back(p0);
+     307           0 :       points.push_back(p1);
+     308           0 :       points.push_back(p2);
+     309           0 :       points.push_back(p3);
+     310           0 :       points.push_back(p4);
+     311           0 :       points.push_back(p5);
+     312           0 :       points.push_back(p6);
+     313           0 :       points.push_back(p7);
+     314           0 :     }
+     315             : 
+     316           0 :     Cuboid::Cuboid(std::vector<Eigen::Vector3d> points)
+     317             :     {
+     318           0 :       this->points = points;
+     319           0 :     }
+     320             : 
+     321           0 :     Cuboid::Cuboid(Eigen::Vector3d center, Eigen::Vector3d size, Eigen::Quaterniond orientation)
+     322             :     {
+     323           0 :       Eigen::Vector3d p0(size.x() / 2.0, -size.y() / 2.0, -size.z() / 2.0);
+     324           0 :       Eigen::Vector3d p1(size.x() / 2.0, size.y() / 2.0, -size.z() / 2.0);
+     325           0 :       Eigen::Vector3d p2(size.x() / 2.0, size.y() / 2.0, size.z() / 2.0);
+     326           0 :       Eigen::Vector3d p3(size.x() / 2.0, -size.y() / 2.0, size.z() / 2.0);
+     327             : 
+     328           0 :       Eigen::Vector3d p4(-size.x() / 2.0, size.y() / 2.0, -size.z() / 2.0);
+     329           0 :       Eigen::Vector3d p5(-size.x() / 2.0, -size.y() / 2.0, -size.z() / 2.0);
+     330           0 :       Eigen::Vector3d p6(-size.x() / 2.0, -size.y() / 2.0, size.z() / 2.0);
+     331           0 :       Eigen::Vector3d p7(-size.x() / 2.0, size.y() / 2.0, size.z() / 2.0);
+     332             : 
+     333           0 :       p0 = center + orientation * p0;
+     334           0 :       p1 = center + orientation * p1;
+     335           0 :       p2 = center + orientation * p2;
+     336           0 :       p3 = center + orientation * p3;
+     337             : 
+     338           0 :       p4 = center + orientation * p4;
+     339           0 :       p5 = center + orientation * p5;
+     340           0 :       p6 = center + orientation * p6;
+     341           0 :       p7 = center + orientation * p7;
+     342             : 
+     343           0 :       points.push_back(p0);
+     344           0 :       points.push_back(p1);
+     345           0 :       points.push_back(p2);
+     346           0 :       points.push_back(p3);
+     347           0 :       points.push_back(p4);
+     348           0 :       points.push_back(p5);
+     349           0 :       points.push_back(p6);
+     350           0 :       points.push_back(p7);
+     351           0 :     }
+     352             : 
+     353           0 :     Cuboid::~Cuboid()
+     354             :     {
+     355           0 :     }
+     356             :     //}
+     357             : 
+     358             :     /* lookupPoints //{ */
+     359           0 :     std::vector<Eigen::Vector3d> Cuboid::lookupPoints(int face_idx) const
+     360             :     {
+     361           0 :       std::vector<Eigen::Vector3d> lookup;
+     362           0 :       switch (face_idx)
+     363             :       {
+     364           0 :         case Cuboid::FRONT:
+     365           0 :           lookup.push_back(points[0]);
+     366           0 :           lookup.push_back(points[1]);
+     367           0 :           lookup.push_back(points[2]);
+     368           0 :           lookup.push_back(points[3]);
+     369           0 :           break;
+     370           0 :         case Cuboid::BACK:
+     371           0 :           lookup.push_back(points[4]);
+     372           0 :           lookup.push_back(points[5]);
+     373           0 :           lookup.push_back(points[6]);
+     374           0 :           lookup.push_back(points[7]);
+     375           0 :           break;
+     376           0 :         case Cuboid::LEFT:
+     377           0 :           lookup.push_back(points[1]);
+     378           0 :           lookup.push_back(points[4]);
+     379           0 :           lookup.push_back(points[7]);
+     380           0 :           lookup.push_back(points[2]);
+     381           0 :           break;
+     382           0 :         case Cuboid::RIGHT:
+     383           0 :           lookup.push_back(points[5]);
+     384           0 :           lookup.push_back(points[0]);
+     385           0 :           lookup.push_back(points[3]);
+     386           0 :           lookup.push_back(points[6]);
+     387           0 :           break;
+     388           0 :         case Cuboid::BOTTOM:
+     389           0 :           lookup.push_back(points[5]);
+     390           0 :           lookup.push_back(points[4]);
+     391           0 :           lookup.push_back(points[1]);
+     392           0 :           lookup.push_back(points[0]);
+     393           0 :           break;
+     394           0 :         case Cuboid::TOP:
+     395           0 :           lookup.push_back(points[3]);
+     396           0 :           lookup.push_back(points[2]);
+     397           0 :           lookup.push_back(points[7]);
+     398           0 :           lookup.push_back(points[6]);
+     399           0 :           break;
+     400             :       }
+     401           0 :       return lookup;
+     402             :     }
+     403             :     //}
+     404             : 
+     405             :     /* getters //{ */
+     406           0 :     const std::vector<Eigen::Vector3d> Cuboid::vertices() const
+     407             :     {
+     408           0 :       return points;
+     409             :     }
+     410             : 
+     411           0 :     const Rectangle Cuboid::getRectangle(int face_idx) const
+     412             :     {
+     413           0 :       return Rectangle(lookupPoints(face_idx));
+     414             :     }
+     415             : 
+     416           0 :     const Eigen::Vector3d Cuboid::center() const
+     417             :     {
+     418           0 :       Eigen::Vector3d point_sum = points[0];
+     419           0 :       for (int i = 1; i < 8; i++)
+     420             :       {
+     421           0 :         point_sum += points[i];
+     422             :       }
+     423           0 :       return point_sum / 8.0;
+     424             :     }
+     425             :     //}
+     426             : 
+     427             :     /* intersectionRay //{ */
+     428           0 :     const std::vector<Eigen::Vector3d> Cuboid::intersectionRay(Ray r, double epsilon) const
+     429             :     {
+     430           0 :       std::vector<Eigen::Vector3d> ret;
+     431           0 :       for (int i = 0; i < 6; i++)
+     432             :       {
+     433           0 :         Rectangle side = getRectangle(i);
+     434           0 :         auto side_intersect = side.intersectionRay(r, epsilon);
+     435           0 :         if (side_intersect != boost::none)
+     436             :         {
+     437           0 :           ret.push_back(side_intersect.get());
+     438             :         }
+     439             :       }
+     440           0 :       return ret;
+     441             :     }
+     442             :     //}
+     443             : 
+     444             :     //}
+     445             : 
+     446             :     /* Ellipse //{ */
+     447             : 
+     448             :     /* constructors //{ */
+     449           0 :     Ellipse::Ellipse()
+     450             :     {
+     451           0 :     }
+     452             : 
+     453           0 :     Ellipse::~Ellipse()
+     454             :     {
+     455           0 :     }
+     456             : 
+     457           0 :     Ellipse::Ellipse(Eigen::Vector3d center, Eigen::Quaterniond orientation, double a, double b)
+     458             :     {
+     459           0 :       center_point = center;
+     460           0 :       absolute_orientation = orientation;
+     461           0 :       major_semi = a;
+     462           0 :       minor_semi = b;
+     463           0 :     }
+     464             :     //}
+     465             : 
+     466             :     /* getters //{ */
+     467           0 :     double Ellipse::a() const
+     468             :     {
+     469           0 :       return major_semi;
+     470             :     }
+     471             : 
+     472           0 :     double Ellipse::b() const
+     473             :     {
+     474           0 :       return minor_semi;
+     475             :     }
+     476             : 
+     477           0 :     const Eigen::Vector3d Ellipse::center() const
+     478             :     {
+     479           0 :       return center_point;
+     480             :     }
+     481             : 
+     482           0 :     const Eigen::Quaterniond Ellipse::orientation() const
+     483             :     {
+     484           0 :       return absolute_orientation;
+     485             :     }
+     486             : 
+     487             :     //}
+     488             : 
+     489             :     //}
+     490             : 
+     491             :     /* Cylinder //{ */
+     492             : 
+     493             :     /* constructors //{ */
+     494           0 :     Cylinder::Cylinder()
+     495             :     {
+     496           0 :     }
+     497             : 
+     498           0 :     Cylinder::~Cylinder()
+     499             :     {
+     500           0 :     }
+     501             : 
+     502           0 :     Cylinder::Cylinder(Eigen::Vector3d center, double radius, double height, Eigen::Quaterniond orientation)
+     503             :     {
+     504           0 :       this->center_point = center;
+     505           0 :       this->radius = radius;
+     506           0 :       this->height = height;
+     507           0 :       this->absolute_orientation = orientation;
+     508           0 :     }
+     509             :     //}
+     510             : 
+     511             :     /* getters //{ */
+     512           0 :     const Eigen::Vector3d Cylinder::center() const
+     513             :     {
+     514           0 :       return center_point;
+     515             :     }
+     516             : 
+     517           0 :     const Eigen::Quaterniond Cylinder::orientation() const
+     518             :     {
+     519           0 :       return absolute_orientation;
+     520             :     }
+     521             : 
+     522           0 :     double Cylinder::r() const
+     523             :     {
+     524           0 :       return radius;
+     525             :     }
+     526             : 
+     527           0 :     double Cylinder::h() const
+     528             :     {
+     529           0 :       return height;
+     530             :     }
+     531             : 
+     532           0 :     const Ellipse Cylinder::getCap(int index) const
+     533             :     {
+     534           0 :       Ellipse e;
+     535           0 :       Eigen::Vector3d ellipse_center;
+     536           0 :       switch (index)
+     537             :       {
+     538           0 :         case Cylinder::BOTTOM:
+     539           0 :           ellipse_center = center() - orientation() * (Eigen::Vector3d::UnitZ() * (h() / 2.0));
+     540           0 :           e = Ellipse(ellipse_center, orientation(), r(), r());
+     541           0 :           break;
+     542           0 :         case Cylinder::TOP:
+     543           0 :           ellipse_center = center() + orientation() * (Eigen::Vector3d::UnitZ() * (h() / 2.0));
+     544           0 :           e = Ellipse(ellipse_center, orientation(), r(), r());
+     545           0 :           break;
+     546             :       }
+     547           0 :       return e;
+     548             :     }
+     549             : 
+     550             :     //}
+     551             : 
+     552             :     //}
+     553             : 
+     554             :     /* Cone //{ */
+     555             : 
+     556             :     /* constructors //{ */
+     557           0 :     Cone::Cone()
+     558             :     {
+     559           0 :     }
+     560             : 
+     561           0 :     Cone::~Cone()
+     562             :     {
+     563           0 :     }
+     564             : 
+     565           0 :     Cone::Cone(Eigen::Vector3d origin_point, double angle, double height, Eigen::Vector3d absolute_direction)
+     566             :     {
+     567           0 :       this->origin_point = origin_point;
+     568           0 :       this->angle = angle;
+     569           0 :       this->height = height;
+     570           0 :       this->absolute_direction = absolute_direction.normalized();
+     571           0 :     }
+     572             :     //}
+     573             : 
+     574             :     /* getters //{ */
+     575           0 :     const Eigen::Vector3d Cone::origin() const
+     576             :     {
+     577           0 :       return origin_point;
+     578             :     }
+     579             : 
+     580           0 :     const Eigen::Vector3d Cone::direction() const
+     581             :     {
+     582           0 :       return absolute_direction;
+     583             :     }
+     584             : 
+     585           0 :     const Eigen::Vector3d Cone::center() const
+     586             :     {
+     587           0 :       return origin() + (0.5 * h()) * direction();
+     588             :     }
+     589             : 
+     590           0 :     double Cone::theta() const
+     591             :     {
+     592           0 :       return angle;
+     593             :     }
+     594             : 
+     595           0 :     double Cone::h() const
+     596             :     {
+     597           0 :       return height;
+     598             :     }
+     599             : 
+     600           0 :     const Ellipse Cone::getCap() const
+     601             :     {
+     602           0 :       Eigen::Vector3d ellipse_center = origin() + direction() * h();
+     603           0 :       Eigen::Quaterniond ellipse_orientation = Eigen::Quaterniond::FromTwoVectors(Eigen::Vector3d::UnitZ(), direction());
+     604           0 :       double cap_radius = std::tan(theta()) * h();
+     605           0 :       Ellipse e(ellipse_center, ellipse_orientation, cap_radius, cap_radius);
+     606           0 :       return e;
+     607             :     }
+     608             : 
+     609           0 :     const std::optional<Eigen::Vector3d> Cone::projectPoint(const Eigen::Vector3d& point) const
+     610             :     {
+     611             : 
+     612           0 :       Eigen::Vector3d point_vec = point - origin();
+     613           0 :       double point_axis_angle = acos((point_vec.dot(direction())) / (point_vec.norm() * direction().norm()));
+     614             : 
+     615             :       /* Eigen::Vector3d axis_projection = this->cone_axis_projector * point_vec + origin(); */
+     616             : 
+     617           0 :       Eigen::Vector3d axis_rot = direction().cross(point_vec);
+     618           0 :       axis_rot.normalize();
+     619             : 
+     620           0 :       Eigen::AngleAxis<double> my_quat(this->angle - point_axis_angle, axis_rot);
+     621             : 
+     622           0 :       Eigen::Vector3d point_on_cone = my_quat * point_vec + origin();
+     623             : 
+     624           0 :       Eigen::Vector3d vec_point_on_cone = point_on_cone - origin();
+     625           0 :       vec_point_on_cone.normalize();
+     626             : 
+     627           0 :       double beta = this->angle - point_axis_angle;
+     628             : 
+     629           0 :       if (point_axis_angle < this->angle)
+     630             :       {
+     631           0 :         return origin() + vec_point_on_cone * cos(beta) * point_vec.norm();
+     632           0 :       } else if ((point_axis_angle >= this->angle) && (point_axis_angle - this->angle) <= M_PI / 2.0)
+     633             :       {  // TODO: is this condition correct?
+     634           0 :         return origin() + vec_point_on_cone * cos(point_axis_angle - this->angle) * point_vec.norm();
+     635             :       } else
+     636             :       {
+     637           0 :         return {};
+     638             :       }
+     639             :     }
+     640             : 
+     641             :     //}
+     642             : 
+     643             :     //}
+     644             : 
+     645             :   }  // namespace geometry
+     646             : }  // namespace mrs_lib
+
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/math.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             :   /* probit() function //{ */
+       6         202 :   double probit(const double quantile)
+       7             :   {
+       8             :     // polynomial coefficients of the numerator for rational polynomial approximation in the range (0.08; 0.92)
+       9             :     constexpr double a[4] =
+      10             :     {
+      11             :       2.50662823884,
+      12             :     -18.61500062529,
+      13             :      41.39119773534,
+      14             :     -25.44106049637
+      15             :     };
+      16             : 
+      17             :     // polynomial coefficients of the denominator for the rational polynomial approximation in the range (0.08; 0.92)
+      18             :     constexpr double b[4] =
+      19             :     {
+      20             :       -8.47351093090,
+      21             :       23.08336743743,
+      22             :      -21.06224101826,
+      23             :        3.13082909833
+      24             :     };
+      25             : 
+      26             :     // polynomial coefficients of the logarithmical approximation in the range (0; 0.08) U (0.92; 1)
+      27             :     constexpr double c[9] =
+      28             :     {
+      29             :       0.3374754822726147,
+      30             :       0.9761690190917186,
+      31             :       0.1607979714918209,
+      32             :       0.0276438810333863,
+      33             :       0.0038405729373609,
+      34             :       0.0003951896511919,
+      35             :       0.0000321767881768,
+      36             :       0.0000002888167364,
+      37             :       0.0000003960315187
+      38             :     };
+      39             : 
+      40             :     // correctly handle special values
+      41         202 :     if (quantile == 1.0)
+      42           1 :       return std::numeric_limits<double>::infinity();
+      43         201 :     if (quantile == 0.0)
+      44           1 :       return -std::numeric_limits<double>::infinity();
+      45         200 :     if (quantile < 0.0 || quantile > 1.0)
+      46           2 :       return std::numeric_limits<double>::quiet_NaN();
+      47             : 
+      48         198 :     const double y = quantile - 0.5;
+      49         198 :     if (std::abs(y) < 0.42)
+      50             :     {
+      51         168 :       const double r = y*y;
+      52         168 :       const double num = y*((( a[3]*r + a[2] )*r + a[1])*r + a[0]);
+      53         168 :       const double denom = (((( b[3]*r + b[2] )*r + b[1])*r + b[0])*r + 1);
+      54         168 :       return num/denom;
+      55             :     }
+      56             :     else
+      57             :     {
+      58          30 :       const double v = y > 0 ? 1.0 - quantile : quantile;
+      59          30 :       const double r = std::log(-std::log(v));
+      60          30 :       const double x = c[0] + r*( c[1] + r*( c[2] + r*( c[3] + r*( c[4] + r*( c[5] + r*( c[6] + r*( c[7] + r*c[8] )))))));
+      61          30 :       return y < 0 ? -x : x;
+      62             :     }
+      63             :   }
+      64             :   //}
+      65             : }
+
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mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
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mrs_lib::MedianFilter::setMaxValue(double)2
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mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)5
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::check(double)2068
mrs_lib::MedianFilter::median() const2084
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mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::add(double)2163
mrs_lib::MedianFilter::check(double)2068
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)2
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)5
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)3
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::full() const2158
mrs_lib::MedianFilter::median() const2084
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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           5 :   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           5 :       m_max_diff(max_diff)
+      12             :   {
+      13           5 :     m_buffer.set_capacity(buffer_length);
+      14           5 :     m_buffer_sorted.reserve(buffer_length);
+      15           5 :   }
+      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           2 :   MedianFilter::MedianFilter(MedianFilter&& other)
+      32             :   {
+      33           2 :     *this = other;
+      34           2 :   }
+      35             : 
+      36             :   //}
+      37             : 
+      38             :   /* operator=() method and overloads //{ */
+      39           3 :   MedianFilter& MedianFilter::operator=(const MedianFilter& other)
+      40             :   {
+      41           3 :     std::scoped_lock lck(other.m_mtx, m_mtx);
+      42             :   
+      43           3 :     m_buffer = other.m_buffer;
+      44           3 :     m_buffer_sorted = other.m_buffer_sorted;
+      45           3 :     m_median = other.m_median;
+      46             :   
+      47             :     // parameters specified by the user
+      48           3 :     m_min_valid = other.m_min_valid;
+      49           3 :     m_max_valid = other.m_max_valid;
+      50           3 :     m_max_diff = other.m_max_diff;
+      51             :   
+      52           6 :     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        2163 :   void MedianFilter::add(const double value)
+      74             :   {
+      75        4326 :     std::scoped_lock lck(m_mtx);
+      76             :     // add the value to the buffer
+      77        2163 :     m_buffer.push_back(value);
+      78             :     // reset the cached median value
+      79        2163 :     m_median = std::nullopt;
+      80        2163 :   }
+      81             :   //}
+      82             : 
+      83             :   /* check() method //{ */
+      84        2068 :   bool MedianFilter::check(const double value)
+      85             :   {
+      86        2068 :     std::scoped_lock lck(m_mtx);
+      87             :     // check if all constraints are met
+      88        2068 :     const double diff = m_buffer.empty() ? 0.0 : std::abs(median() - value);
+      89        4136 :     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        2158 :   bool MedianFilter::full() const
+     113             :   {
+     114        4316 :     std::scoped_lock lck(m_mtx);
+     115        4316 :     return m_buffer.full();
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* median() method //{ */
+     120        2084 :   double MedianFilter::median() const
+     121             :   {
+     122        4168 :     std::scoped_lock lck(m_mtx);
+     123             :     // if the value was already calculated, just return it
+     124        2084 :     if (m_median.has_value())
+     125          17 :       return m_median.value();
+     126             :   
+     127             :     // check if there are even any numbers to calculate the median from
+     128        2067 :     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        2063 :     m_buffer_sorted.clear();
+     136             :     // copy all elements from the input buffer to buffer_sorted
+     137        2063 :     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        2063 :     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        2063 :     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        2063 :     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        2063 :     if (even_set)
+     148        2047 :       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        2063 :     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&) const1
mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)1994
mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6652
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const44278
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mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6652
mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)1994
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const44278
mrs_lib::ParamProvider::getParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&) const1
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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        1994 :   ParamProvider::ParamProvider(const ros::NodeHandle& nh, std::string node_name, const bool use_rosparam)
+      14        1994 :   : m_nh(nh), m_node_name(std::move(node_name)), m_use_rosparam(use_rosparam)
+      15             :   {
+      16        1994 :   }
+      17             : 
+      18        6652 :   bool ParamProvider::addYamlFile(const std::string& filepath)
+      19             :   {
+      20             :     try
+      21             :     {
+      22       13304 :       const auto loaded_yaml = YAML::LoadFile(filepath);
+      23        6652 :       YAML::Node root;
+      24        6652 :       root["root"] = loaded_yaml;
+      25        6652 :       m_yamls.emplace_back(root);
+      26        6652 :       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           1 :   bool ParamProvider::getParam(const std::string& param_name, XmlRpc::XmlRpcValue& value_out) const
+      47             :   {
+      48           1 :     if (m_use_rosparam && m_nh.getParam(param_name, value_out))
+      49           1 :       return true;
+      50             : 
+      51             :     try
+      52             :     {
+      53           0 :       const auto found_node = findYamlNode(param_name);
+      54           0 :       if (found_node.has_value())
+      55           0 :         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           0 :     return false;
+      62             :   }
+      63             : 
+      64       44278 :   std::optional<YAML::Node> ParamProvider::findYamlNode(const std::string& param_name) const
+      65             :   {
+      66      226729 :     for (const auto& yaml : m_yamls)
+      67             :     {
+      68             :       // Try to load the parameter sequentially as a map.
+      69      218888 :       auto cur_node_it = std::cbegin(yaml);
+      70             :       // The root should always be a pam
+      71      218888 :       if (!cur_node_it->second.IsMap())
+      72        5642 :         continue;
+      73             : 
+      74      213244 :       bool loaded = true;
+      75             :       {
+      76      213244 :         constexpr char delimiter = '/';
+      77      213244 :         auto substr_start = std::cbegin(param_name);
+      78      213243 :         auto substr_end = substr_start;
+      79      286121 :         do
+      80             :         {
+      81      499364 :           substr_end = std::find(substr_start, std::cend(param_name), delimiter);
+      82             :           // why can't substr or string_view take iterators? :'(
+      83      499362 :           const auto start_pos = std::distance(std::cbegin(param_name), substr_start);
+      84      499362 :           const auto count = std::distance(substr_start, substr_end);
+      85      499362 :           const std::string param_substr = param_name.substr(start_pos, count);
+      86      499365 :           substr_start = substr_end+1;
+      87             : 
+      88      499365 :           bool found = false;
+      89     2070319 :           for (auto node_it = std::cbegin(cur_node_it->second); node_it != std::cend(cur_node_it->second); ++node_it)
+      90             :           {
+      91     1071579 :             if (node_it->first.as<std::string>() == param_substr)
+      92             :             {
+      93      322558 :               cur_node_it = node_it;
+      94      322559 :               found = true;
+      95      322559 :               break;
+      96             :             }
+      97             :           }
+      98             : 
+      99      499366 :           if (!found)
+     100             :           {
+     101      176809 :             loaded = false;
+     102      176809 :             break;
+     103             :           }
+     104             :         }
+     105      322558 :         while (substr_end != std::end(param_name) && cur_node_it->second.IsMap());
+     106             :       }
+     107             : 
+     108      213246 :       if (loaded)
+     109             :       {
+     110       72874 :         return cur_node_it->second;
+     111             :       }
+     112             :     }
+     113             : 
+     114        7841 :     return std::nullopt;
+     115             :   }
+     116             : }
+
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/profilerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3710136.6 %
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profiler.cpp +
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Current view:top level - mrs_lib/src/profilerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3710136.6 %
Date:2023-12-06 10:06:33Functions:91090.0 %
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profiler.cpp +
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Current view:top level - mrs_lib/src/profilerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3710136.6 %
Date:2023-12-06 10:06:33Functions:91090.0 %
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profiler.cpp +
36.6%36.6%
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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/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3710136.6 %
Date:2023-12-06 10:06:33Functions:91090.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Profiler::Profiler(mrs_lib::Profiler const&)0
mrs_lib::Profiler::Profiler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)659
mrs_lib::Profiler::Profiler()659
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)659
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)206003
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)206059
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)688334
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)688345
mrs_lib::Routine::end()894415
mrs_lib::Routine::~Routine()894445
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.func.html b/mrs_lib/src/profiler/profiler.cpp.func.html new file mode 100644 index 0000000000..ef638d1517 --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.func.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3710136.6 %
Date:2023-12-06 10:06:33Functions:91090.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Routine::end()894415
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)688334
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)206059
mrs_lib::Routine::~Routine()894445
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)688345
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)206003
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)659
mrs_lib::Profiler::Profiler()659
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)659
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html b/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html new file mode 100644 index 0000000000..c91c4fd036 --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.html b/mrs_lib/src/profiler/profiler.cpp.gcov.html new file mode 100644 index 0000000000..49dc22da80 --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.html @@ -0,0 +1,301 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3710136.6 %
Date:2023-12-06 10:06:33Functions:91090.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_lib/profiler.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : // | ------------------------ Profiler ------------------------ |
+       7             : 
+       8             : /* Profiler constructor //{ */
+       9             : 
+      10         659 : Profiler::Profiler() {
+      11         659 : }
+      12             : 
+      13         659 : Profiler::Profiler(ros::NodeHandle& nh, std::string _node_name_, bool profiler_enabled) {
+      14             : 
+      15         659 :   this->nh_                = std::make_shared<ros::NodeHandle>(nh);
+      16         659 :   this->_node_name_        = _node_name_;
+      17         659 :   this->_profiler_enabled_ = profiler_enabled;
+      18             : 
+      19         659 :   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         659 :   ROS_INFO("[%s]: profiler initialized", _node_name_.c_str());
+      25             : 
+      26         659 :   this->is_initialized_ = true;
+      27         659 : }
+      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         659 : Profiler& Profiler::operator=(const Profiler& other) {
+      43             : 
+      44         659 :   if (this == &other) {
+      45           0 :     return *this;
+      46             :   }
+      47             : 
+      48         659 :   this->is_initialized_    = other.is_initialized_;
+      49         659 :   this->nh_                = other.nh_;
+      50         659 :   this->_node_name_        = other._node_name_;
+      51         659 :   this->_profiler_enabled_ = other._profiler_enabled_;
+      52             : 
+      53         659 :   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         659 :   return *this;
+      59             : }
+      60             : 
+      61             : //}
+      62             : 
+      63             : /* Profiler::registerRoutine() for periodic //{ */
+      64             : 
+      65      206003 : Routine Profiler::createRoutine(std::string name, double expected_rate, double threshold, ros::TimerEvent event) {
+      66             : 
+      67      206003 :   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      688345 : Routine Profiler::createRoutine(std::string name) {
+      75             : 
+      76      688345 :   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      206059 : Routine::Routine(std::string name, std::string node_name, double expected_rate, double threshold, std::shared_ptr<ros::Publisher> publisher,
+      86      206059 :                  std::shared_ptr<std::mutex> mutex_publisher, bool profiler_enabled, ros::TimerEvent event) {
+      87             : 
+      88      205574 :   if (!profiler_enabled) {
+      89      205588 :     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      688334 : Routine::Routine(std::string name, std::string node_name, std::shared_ptr<ros::Publisher> publisher, std::shared_ptr<std::mutex> mutex_publisher,
+     141      688334 :                  bool profiler_enabled) {
+     142             : 
+     143      688016 :   if (!profiler_enabled) {
+     144      688020 :     return;
+     145             :   }
+     146             : 
+     147           0 :   this->publisher_       = publisher;
+     148           0 :   this->mutex_publisher_ = mutex_publisher;
+     149             : 
+     150           0 :   this->_routine_name_  = name;
+     151           0 :   msg_out_.routine_name = name;
+     152             : 
+     153           0 :   this->_node_name_  = node_name;
+     154           0 :   msg_out_.node_name = node_name;
+     155             : 
+     156           0 :   this->_profiler_enabled_ = profiler_enabled;
+     157             : 
+     158           0 :   msg_out_.is_periodic   = false;
+     159           0 :   msg_out_.expected_rate = 0;
+     160             : 
+     161           0 :   msg_out_.stamp      = ros::Time::now();
+     162           0 :   msg_out_.duration   = 0;
+     163           0 :   msg_out_.iteration  = this->iteration_++;
+     164           0 :   msg_out_.event      = mrs_msgs::ProfilerUpdate::START;
+     165           0 :   msg_out_.real_start = msg_out_.stamp.toSec();
+     166             : 
+     167           0 :   execution_start_ = ros::Time::now();
+     168             : 
+     169             :   {
+     170           0 :     std::scoped_lock lock(*mutex_publisher_);
+     171             : 
+     172             :     try {
+     173           0 :       publisher_->publish(mrs_msgs::ProfilerUpdateConstPtr(new mrs_msgs::ProfilerUpdate(msg_out_)));
+     174             :     }
+     175           0 :     catch (...) {
+     176           0 :       ROS_ERROR("Exception caught during publishing topic %s.", publisher_->getTopic().c_str());
+     177             :     }
+     178             :   }
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* end() //{ */
+     184             : 
+     185      894415 : void Routine::end(void) {
+     186             : 
+     187      894415 :   if (!_profiler_enabled_) {
+     188      894317 :     return;
+     189             :   }
+     190             : 
+     191          98 :   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      894345 : Routine::~Routine() {
+     213             : 
+     214      894445 :   this->end();
+     215      893839 : }
+     216             : 
+     217             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html b/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html new file mode 100644 index 0000000000..f66727ff8b --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html @@ -0,0 +1,75 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:284957.1 %
Date:2023-12-06 10:06:33Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.cpp +
56.0%56.0%
+ 		56.0 %14 / 2583.3 %5 / 6
<unnamed>56.0 %14 / 2583.3 %5 / 6
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Test:MRS UAV System - Test coverage reportLines:284957.1 %
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Test:MRS UAV System - Test coverage reportLines:284957.1 %
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58.3%58.3%
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58.3%58.3%
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:284957.1 %
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line_operations.cpp +
58.3%58.3%
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safety_zone.cpp +
56.0%56.0%
+ 		56.0 %14 / 2583.3 %5 / 6
+
+
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Current view:top level - mrs_lib/src/safety_zone - line_operations.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:142458.3 %
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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>)112
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)112
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>)112
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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:142458.3 %
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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>)112
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)112
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>)112
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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:142458.3 %
Date:2023-12-06 10:06:33Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/safety_zone/line_operations.h>
+       2             : 
+       3             : /* getScale() //{ */
+       4             : 
+       5         112 : 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         112 :   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         112 : Intersection::Intersection(bool intersect, bool parallel, Eigen::RowVector2d point) : point(std::move(point)), parallel(parallel), intersect(intersect){}
+      16             : 
+      17             : /* sectionIntersect() //{ */
+      18             : 
+      19         112 : Intersection sectionIntersect(Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2) {
+      20         112 :   Eigen::RowVector2d vector1 = end1 - start1;
+      21         112 :   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         112 :   double cross            = vector1(0) * vector2(1) - vector1(1) * vector2(0);
+      29         112 :   double difference_cross = (start2(0) - start1(0)) * vector2(1) - (start2(1) - start1(1)) * vector2(0);
+      30             : 
+      31         112 :   if (cross == 0) {
+      32             :     // are parallel
+      33           0 :     if (difference_cross != 0)
+      34           0 :       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         112 :   double             scale1 = difference_cross / cross;
+      48         112 :   Eigen::RowVector2d point  = start1 + scale1 * vector1;
+      49         112 :   double             scale2 = getScale(start2, vector2, point);
+      50             : 
+      51         112 :   if (0 <= scale1 && scale1 <= 1 && 0 <= scale2 && scale2 <= 1) {
+      52           0 :     return Intersection{true, false, point};
+      53             :   }
+      54         112 :   return Intersection{false, false};
+      55             : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : }  // namespace mrs_lib
+
+
+
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polygon.cpp +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/safety_zone/polygon/polygon.cpp.func-sort-c.html b/mrs_lib/src/safety_zone/polygon/polygon.cpp.func-sort-c.html new file mode 100644 index 0000000000..8315c4abc3 --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/polygon.cpp.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon/polygon.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2023-12-06 10:06:33Functions:4850.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::inflateSelf(double)0
mrs_lib::Polygon::isClockwise()0
mrs_lib::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)28
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)44
mrs_lib::Polygon::isPointInside(double, double)1128
mrs_lib::Polygon::getPointMessageVector(double)6692
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+
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+ + + diff --git a/mrs_lib/src/safety_zone/polygon/polygon.cpp.func.html b/mrs_lib/src/safety_zone/polygon/polygon.cpp.func.html new file mode 100644 index 0000000000..de15ba176b --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/polygon.cpp.func.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon/polygon.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2023-12-06 10:06:33Functions:4850.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::inflateSelf(double)0
mrs_lib::Polygon::isClockwise()0
mrs_lib::Polygon::isPointInside(double, double)1128
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)28
mrs_lib::Polygon::getPointMessageVector(double)6692
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)44
mrs_lib::lineIntersectGivenVector(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)0
mrs_lib::movePoint(Eigen::Matrix<double, 1, 2, 1, 1, 2>, double, Eigen::Matrix<double, 1, 2, 1, 1, 2>)0
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2023-12-06 10:06:33Functions:4850.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_lib/safety_zone/polygon.h>
+       2             : #include <mrs_lib/safety_zone/line_operations.h>
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : 
+       7             : /* Polygon() //{ */
+       8             : 
+       9          44 : Polygon::Polygon(const Eigen::MatrixXd vertices) : vertices(vertices) {
+      10             : 
+      11          44 :   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          44 :   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          44 :   Eigen::RowVector2d edge1;
+      21          44 :   Eigen::RowVector2d edge2 = vertices.row(1) - vertices.row(0);
+      22         220 :   for (int i = 0; i < vertices.rows(); ++i) {
+      23         176 :     edge1 = edge2;
+      24         176 :     edge2 = vertices.row((i + 2) % vertices.rows()) - vertices.row((i + 1) % vertices.rows());
+      25             : 
+      26         176 :     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         176 :     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          44 : }
+      36             : 
+      37             : //}
+      38             : 
+      39             : /* isPointInside() //{ */
+      40             : 
+      41        1128 : bool Polygon::isPointInside(const double px, const double py) {
+      42             : 
+      43        1128 :   int count = 0;
+      44             : 
+      45             :   // Cast a horizontal ray and see how many times it intersects all the edges
+      46        5640 :   for (int i = 0; i < vertices.rows(); ++i) {
+      47        4512 :     double v1x = vertices(i, 0);
+      48        4512 :     double v1y = vertices(i, 1);
+      49        4512 :     double v2x = vertices((i + 1) % vertices.rows(), 0);
+      50        4512 :     double v2y = vertices((i + 1) % vertices.rows(), 1);
+      51             : 
+      52        4512 :     if (v1y > py && v2y > py)
+      53        1128 :       continue;
+      54        3384 :     if (v1y <= py && v2y <= py)
+      55        1128 :       continue;
+      56        2256 :     double intersect_x    = (v1y == v2y) ? v1x : (py - v1y) * (v2x - v1x) / (v2y - v1y) + v1x;
+      57        2256 :     bool   does_intersect = intersect_x > px;
+      58        2256 :     if (does_intersect)
+      59        1128 :       ++count;
+      60             :   }
+      61             : 
+      62        1128 :   return count % 2;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* doesSectionIntersect() //{ */
+      68             : 
+      69          28 : bool Polygon::doesSectionIntersect(const double startX, const double startY, const double endX, const double endY) {
+      70             : 
+      71          28 :   Eigen::RowVector2d start{startX, startY};
+      72          28 :   Eigen::RowVector2d end{endX, endY};
+      73             : 
+      74         140 :   for (int i = 0; i < vertices.rows(); ++i) {
+      75             : 
+      76         112 :     Eigen::RowVector2d edgeStart = vertices.row(i);
+      77         112 :     Eigen::RowVector2d edgeEnd   = vertices.row((i + 1) % vertices.rows());
+      78             : 
+      79         112 :     if (sectionIntersect(start, end, edgeStart, edgeEnd).intersect) {
+      80           0 :       return true;
+      81             :     }
+      82             :   }
+      83             : 
+      84          28 :   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        6692 : std::vector<geometry_msgs::Point> Polygon::getPointMessageVector(const double z) {
+     194        6692 :   std::vector<geometry_msgs::Point> points(vertices.rows());
+     195       33460 :   for (int i = 0; i < vertices.rows(); ++i) {
+     196       26768 :     points[i].x = vertices(i, 0);
+     197       26768 :     points[i].y = vertices(i, 1);
+     198       26768 :     points[i].z = z;
+     199             :   }
+     200             : 
+     201        6692 :   return points;
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : }  // namespace mrs_lib
+
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.overview.html b/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.overview.html new file mode 100644 index 0000000000..9588a3df3c --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.overview.html @@ -0,0 +1,72 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon/polygon.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.png b/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c5adcdf99ff4cbdb4f4d66b7c0b94eb7d1a120a0 GIT binary patch literal 1057 zcmV++1m63JP)$b|L8UA<<9=Mz;iKKL zc85A%)j`nM+>C0sP4({7g2YB=->8c@2R2p;@?r$K>&=yT$KdT}Al0K?NiI0!a}48<^f9CF$uEE6&Xh67|26T@sH z7?{ReS$eS%EQ?keA8+y23pTP@Y7kj9GEBiagRZv3^p8S}k;{~ln*bK@=b`v9j>8O7x3!hsfSt!0@1=dGtW8oJBV+H5d4pTv>`(hy&)*zj( zSqc|y+@OqrDq`;y@=DY6ai)T1whFiix`T|!T^oY}^bsykVh{1lIoYnb$6|g3+q6ka zf*0^Cb!{i`6ica*0WU1XBl+wQrpE`8=bAYR#+>13r*0wuh;W)wx`L2EJsdUqdoucs z>751lyhip9?uS{z_63)vC3)O8SRs2%HVsZky;{@1C6OjH!|f)7T9W|!bqF70M!(0mQFJONCbVxa9@L zEt4xx?zIhNaw$wKa~b+pJI7w~4+MWHxn3%U!8@&3TdVdCd`UBUtwQS~TOSiNmh!ro zhWj-I!~o{6fy$(QU~vh+tVn6(DpJg)18-I(*e?%98jJGqM(GOikoso`#x5IzI(Vpy za$DmyH0}s$eAkoe(FOy=H$Lqep^itkAk*Pwbrwp@aM;Wlm9T9LTBpIkM9swtu<$+6 z$R<*@dtRpp48Ije%?LqZv5O4oNNrewuL-@oAL{rSI2&^ b{<+`}Uto53>9?6+00000NkvXXu0mjfHe=(^ literal 0 HcmV?d00001 diff --git a/mrs_lib/src/safety_zone/safety_zone.cpp.func-sort-c.html b/mrs_lib/src/safety_zone/safety_zone.cpp.func-sort-c.html new file mode 100644 index 0000000000..277a42ed87 --- /dev/null +++ b/mrs_lib/src/safety_zone/safety_zone.cpp.func-sort-c.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/safety_zone.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/safety_zone - safety_zone.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:142556.0 %
Date:2023-12-06 10:06:33Functions:5683.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::SafetyZone(mrs_lib::Polygon)0
mrs_lib::SafetyZone::isPathValid(double, double, double, double)28
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)44
mrs_lib::SafetyZone::~SafetyZone()44
mrs_lib::SafetyZone::isPointValid(double, double)1128
mrs_lib::SafetyZone::getBorder()3346
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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:142556.0 %
Date:2023-12-06 10:06:33Functions:5683.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::isPathValid(double, double, double, double)28
mrs_lib::SafetyZone::isPointValid(double, double)1128
mrs_lib::SafetyZone::getBorder()3346
mrs_lib::SafetyZone::SafetyZone(mrs_lib::Polygon)0
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)44
mrs_lib::SafetyZone::~SafetyZone()44
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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:142556.0 %
Date:2023-12-06 10:06:33Functions:5683.3 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/safety_zone/safety_zone.h>
+       2             : #include <mrs_lib/safety_zone/line_operations.h>
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : /* SafetyZone() //{ */
+       7             : 
+       8           0 : SafetyZone::SafetyZone(mrs_lib::Polygon border) {
+       9           0 :   outerBorder = new Polygon(border);
+      10           0 : }
+      11             : 
+      12             : //}
+      13             : 
+      14             : /* SafetyZone() //{ */
+      15             : 
+      16          88 : SafetyZone::~SafetyZone() {
+      17          44 :   delete outerBorder;
+      18          44 : }
+      19             : 
+      20             : //}
+      21             : 
+      22             : /* SafetyZone() //{ */
+      23             : 
+      24          44 : SafetyZone::SafetyZone(const Eigen::MatrixXd& outerBorderMatrix) {
+      25             : 
+      26             :   try {
+      27          44 :     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          44 : }
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* isPointValid() //{ */
+      43             : 
+      44        1128 : bool SafetyZone::isPointValid(const double px, const double py) {
+      45             : 
+      46        1128 :   if (!outerBorder->isPointInside(px, py)) {
+      47           0 :     return false;
+      48             :   }
+      49             : 
+      50        1128 :   return true;
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* isPathValid() //{ */
+      56             : 
+      57          28 : bool SafetyZone::isPathValid(const double p1x, const double p1y, const double p2x, const double p2y) {
+      58             : 
+      59          28 :   if (outerBorder->doesSectionIntersect(p1x, p1y, p2x, p2y)) {
+      60           0 :     return false;
+      61             :   }
+      62             : 
+      63          28 :   return true;
+      64             : }
+      65             : 
+      66             : //}
+      67             : 
+      68             : /* getBorder() //{ */
+      69             : 
+      70        3346 : Polygon SafetyZone::getBorder() {
+      71        3346 :   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)329
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()329
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1546670
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_lib::ScopeTimerLogger>, bool)1846240
mrs_lib::ScopeTimer::~ScopeTimer()1847017
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Current view:top level - mrs_lib/src/scope_timer - scope_timer.cpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1546670
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)1846240
mrs_lib::ScopeTimer::~ScopeTimer()1847017
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)329
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()329
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Current view:top level - mrs_lib/src/scope_timer - scope_timer.cpp (source / functions)HitTotalCoverage
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Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/scope_timer.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : // | --------------------- ScopeTimerLogger --------------------- |
+       7             : 
+       8             : /*//{ ScopeTimerLogger constructor */
+       9         329 : ScopeTimerLogger::ScopeTimerLogger(const std::string& logfile, const bool enable_logging, const int log_precision)
+      10         329 :     : _logging_enabled_(enable_logging), _log_filepath_(logfile) {
+      11             : 
+      12         329 :   if (!_logging_enabled_) {
+      13         329 :     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         329 : ScopeTimerLogger::~ScopeTimerLogger() {
+      47         329 :   if (_logging_enabled_) {
+      48           0 :     ROS_DEBUG("[%s]: ScopeTimerLogger: closing logstream.", ros::this_node::getName().c_str());
+      49           0 :     _logstream_.close();
+      50             :   }
+      51         329 : }
+      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     1846240 : ScopeTimer::ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable)
+     104     1846240 :     : _timer_label_(label), _enable_print_or_log(enable), _throttle_period_(ros::Duration(0.0)), _logger_(scope_timer_logger) {
+     105             : 
+     106     1841904 :   checkpoints.push_back(time_point("timer start"));
+     107             : 
+     108     1841477 :   ROS_DEBUG("[%s] Scope timer started with file logger (label: %s).", ros::this_node::getName().c_str(), label.c_str());
+     109     1841477 : }
+     110             : 
+     111             : //}
+     112             : 
+     113             : /* ScopeTimer::checkpoint() //{ */
+     114             : 
+     115     1546670 : void ScopeTimer::checkpoint(const std::string& label) {
+     116             : 
+     117     1546670 :   if (_enable_print_or_log) {
+     118           0 :     checkpoints.push_back(time_point(label));
+     119             :   }
+     120     1546670 : }
+     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     5539282 : ScopeTimer::~ScopeTimer() {
+     136             : 
+     137     1847017 :   if (!_enable_print_or_log) {
+     138     1847026 :     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     1846175 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : }  // namespace mrs_lib
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::TimeoutManager::change(unsigned long, ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)0
mrs_lib::TimeoutManager::lastReset(unsigned long)0
mrs_lib::TimeoutManager::pauseAll()2
mrs_lib::TimeoutManager::startAll(ros::Time const&)4
mrs_lib::TimeoutManager::TimeoutManager(ros::NodeHandle const&, ros::Rate const&)4
mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)7
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)7
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::started(unsigned long)1594
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)2950
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)4988
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Current view:top level - mrs_lib/src/timeout_manager - timeout_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:496279.0 %
Date:2023-12-06 10:06:33Functions:91181.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)7
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)2950
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)4988
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)7
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)1594
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&)4
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Current view:top level - mrs_lib/src/timeout_manager - timeout_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:496279.0 %
Date:2023-12-06 10:06:33Functions:91181.8 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/timeout_manager.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6           4 :   TimeoutManager::TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate)
+       7           4 :     : m_last_id(0)
+       8             :   {
+       9           4 :     m_main_timer = nh.createTimer(update_rate, &TimeoutManager::main_timer_callback, this);
+      10           4 :   }
+      11             : 
+      12             : 
+      13           7 :   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          14 :     std::scoped_lock lck(m_mtx);
+      16           7 :     const auto new_id = m_timeouts.size();
+      17           7 :     const timeout_info_t new_info = {oneshot, autostart, callback, timeout, last_reset, last_reset};
+      18           7 :     m_timeouts.push_back(new_info);
+      19          14 :     return new_id;
+      20             :   }
+      21             : 
+      22        4988 :   void TimeoutManager::reset(const timeout_id_t id, const ros::Time& time)
+      23             :   {
+      24        4988 :     std::scoped_lock lck(m_mtx);
+      25        4988 :     m_timeouts.at(id).last_reset = time;
+      26        4988 :   }
+      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           7 :   void TimeoutManager::start(const timeout_id_t id, const ros::Time& time)
+      35             :   {
+      36           7 :     std::scoped_lock lck(m_mtx);
+      37           7 :     m_timeouts.at(id).started = true;
+      38           7 :     m_timeouts.at(id).last_reset = time;
+      39           7 :   }
+      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        1594 :   bool TimeoutManager::started(const timeout_id_t id)
+      76             :   {
+      77        1594 :     std::scoped_lock lck(m_mtx);
+      78        3188 :     return m_timeouts.at(id).started;
+      79             :   }
+      80             : 
+      81        2950 :   void TimeoutManager::main_timer_callback([[maybe_unused]] const ros::TimerEvent &evt)
+      82             :   {
+      83        2950 :     const auto now = ros::Time::now();
+      84             : 
+      85        5900 :     std::scoped_lock lck(m_mtx);
+      86       12182 :     for (auto& timeout_info : m_timeouts)
+      87             :     {
+      88             :       // don't worry, this'll get optimized out by the compiler
+      89        9232 :       const bool started = timeout_info.started;
+      90        9232 :       const bool last_reset_timeout = now - timeout_info.last_reset >= timeout_info.timeout;
+      91        9232 :       const bool last_callback_timeout = now - timeout_info.last_callback >= timeout_info.timeout;
+      92        9232 :       if (started && last_reset_timeout && last_callback_timeout)
+      93             :       {
+      94        1620 :         timeout_info.callback(timeout_info.last_reset);
+      95        1620 :         timeout_info.last_callback = now;
+      96             :         // if the timeout is oneshot, pause it
+      97        1620 :         if (timeout_info.oneshot)
+      98           0 :           timeout_info.started = false;
+      99             :       }
+     100             :     }
+     101        2950 :   }
+     102             : }
+
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mrs_lib::ThreadTimer::Impl::setPeriod(ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::threadFcn()8
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mrs_lib::ThreadTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ROSTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::stop()24
mrs_lib::ThreadTimer::Impl::start()24
mrs_lib::ThreadTimer::stop()24
mrs_lib::ThreadTimer::start()24
mrs_lib::ROSTimer::stop()24
mrs_lib::ROSTimer::start()24
mrs_lib::ThreadTimer::Impl::breakableSleep(ros::Time const&)208
mrs_lib::ThreadTimer::running()208
mrs_lib::ROSTimer::running()215
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mrs_lib::ThreadTimer::Impl::breakableSleep(ros::Time const&)208
mrs_lib::ThreadTimer::Impl::stop()24
mrs_lib::ThreadTimer::Impl::start()24
mrs_lib::ThreadTimer::Impl::setPeriod(ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::threadFcn()8
mrs_lib::ThreadTimer::Impl::Impl(std::function<void (ros::TimerEvent const&)> const&, ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::~Impl()8
mrs_lib::ThreadTimer::stop()24
mrs_lib::ThreadTimer::start()24
mrs_lib::ThreadTimer::running()208
mrs_lib::ThreadTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ROSTimer::stop()24
mrs_lib::ROSTimer::start()24
mrs_lib::ROSTimer::running()215
mrs_lib::ROSTimer::setPeriod(ros::Duration const&, bool)8
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Date:2023-12-06 10:06:33Functions:1515100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/timer.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : // | ------------------------ ROSTimer ------------------------ |
+       7             : 
+       8             : /* stop() //{ */
+       9             : 
+      10          24 : void ROSTimer::stop() {
+      11             : 
+      12          48 :   std::scoped_lock lock(mutex_timer_);
+      13             : 
+      14          24 :   if (timer_) {
+      15          24 :     timer_->stop();
+      16             :   }
+      17          24 : }
+      18             : 
+      19             : //}
+      20             : 
+      21             : /* start() //{ */
+      22             : 
+      23          24 : void ROSTimer::start() {
+      24             : 
+      25          48 :   std::scoped_lock lock(mutex_timer_);
+      26             : 
+      27          24 :   if (timer_) {
+      28          24 :     timer_->start();
+      29             :   }
+      30          24 : }
+      31             : 
+      32             : //}
+      33             : 
+      34             : /* setPeriod() //{ */
+      35             : 
+      36           8 : void ROSTimer::setPeriod(const ros::Duration& duration, const bool reset) {
+      37             : 
+      38          16 :   std::scoped_lock lock(mutex_timer_);
+      39             : 
+      40           8 :   if (timer_) {
+      41           8 :     timer_->setPeriod(duration, reset);
+      42             :   }
+      43           8 : }
+      44             : 
+      45             : //}
+      46             : 
+      47             : /* running() //{ */
+      48             : 
+      49         215 : bool ROSTimer::running()
+      50             : {
+      51         430 :   std::scoped_lock lock(mutex_timer_);
+      52             : 
+      53         215 :   if (timer_)
+      54         215 :     return timer_->hasStarted();
+      55             :   else
+      56           0 :     return false;
+      57             : }
+      58             : 
+      59             : //}
+      60             : 
+      61             : // | ----------------------- ThreadTimer ---------------------- |
+      62             : 
+      63             : /* TheadTimer::start() //{ */
+      64             : 
+      65          24 : void ThreadTimer::start() {
+      66             : 
+      67          24 :   if (impl_) {
+      68          24 :     impl_->start();
+      69             :   }
+      70          24 : }
+      71             : 
+      72             : //}
+      73             : 
+      74             : /* ThreadTimer::stop() //{ */
+      75             : 
+      76          24 : void ThreadTimer::stop() {
+      77             : 
+      78          24 :   if (impl_) {
+      79          24 :     impl_->stop();
+      80             :   }
+      81          24 : }
+      82             : 
+      83             : //}
+      84             : 
+      85             : /* ThreadTimer::setPeriod() //{ */
+      86             : 
+      87           8 : void ThreadTimer::setPeriod(const ros::Duration& duration, [[maybe_unused]] const bool reset) {
+      88             : 
+      89           8 :   if (impl_) {
+      90           8 :     impl_->setPeriod(duration, reset);
+      91             :   }
+      92           8 : }
+      93             : 
+      94             : //}
+      95             : 
+      96             : /* ThreadTimer::running() //{ */
+      97             : 
+      98         208 : bool ThreadTimer::running()
+      99             : {
+     100         208 :   if (impl_)
+     101         208 :     return impl_->running_;
+     102             :   else
+     103           0 :     return false;
+     104             : }
+     105             : 
+     106             : //}
+     107             : 
+     108             : /* ThreadTimer::Impl //{ */
+     109             : 
+     110           8 : ThreadTimer::Impl::Impl(const std::function<void(const ros::TimerEvent&)>& callback, const ros::Duration& delay_dur, const bool oneshot)
+     111           8 :   : callback_(callback), oneshot_(oneshot), delay_dur_(delay_dur)
+     112             : {
+     113           8 :   ending_  = false;
+     114           8 :   running_ = false;
+     115             : 
+     116           8 :   last_real_     = ros::Time(0);
+     117           8 :   last_expected_ = ros::Time(0);
+     118           8 :   next_expected_ = ros::Time(0);
+     119             : 
+     120           8 :   thread_ = std::thread(&ThreadTimer::Impl::threadFcn, this);
+     121           8 : }
+     122             : 
+     123           8 : ThreadTimer::Impl::~Impl()
+     124             : {
+     125             :   {
+     126             :     // signal the thread to end
+     127          16 :     std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     128           8 :     ending_ = true;
+     129           8 :     wakeup_cond_.notify_all();
+     130             :   }
+     131             :   // wait for it to die
+     132           8 :   thread_.join();
+     133           8 : }
+     134             : 
+     135          24 : void ThreadTimer::Impl::start()
+     136             : {
+     137          48 :   std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     138          24 :   if (!running_)
+     139             :   {
+     140          24 :     next_expected_ = ros::Time::now() + delay_dur_;
+     141          24 :     running_ = true;
+     142          24 :     wakeup_cond_.notify_all();
+     143             :   }
+     144          24 : }
+     145             : 
+     146          24 : void ThreadTimer::Impl::stop()
+     147             : {
+     148          48 :   std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     149          24 :   running_ = false;
+     150          24 :   wakeup_cond_.notify_all();
+     151          24 : }
+     152             : 
+     153           8 : void ThreadTimer::Impl::setPeriod(const ros::Duration& duration, [[maybe_unused]] const bool reset)
+     154             : {
+     155          16 :   std::scoped_lock lock(mutex_wakeup_, mutex_state_);
+     156           8 :   delay_dur_ = duration;
+     157             :   // gracefully handle the special case
+     158           8 :   if (duration == ros::Duration(0))
+     159           0 :     this->oneshot_  = true;
+     160           8 : }
+     161             : 
+     162             : //}
+     163             : 
+     164             : /* ThreadTimer::breakableSleep() method //{ */
+     165         408 : bool ThreadTimer::Impl::breakableSleep(const ros::Time& until)
+     166             : {
+     167         408 :   while (ros::ok() && ros::Time::now() < until)
+     168             :   {
+     169         208 :     const std::chrono::nanoseconds dur {(until - ros::Time::now()).toNSec()};
+     170         208 :     const std::chrono::time_point<std::chrono::steady_clock> until_stl = std::chrono::steady_clock::now() + dur;
+     171         208 :     std::unique_lock lck(mutex_wakeup_);
+     172         208 :     if (!ending_ && running_)
+     173         208 :       wakeup_cond_.wait_until(lck, until_stl);
+     174             :     // check the flags while mutex_state_ is locked
+     175         208 :     if (ending_ || !running_)
+     176           8 :       return false;
+     177             :   }
+     178         200 :   return true;
+     179             : }
+     180             : //}
+     181             : 
+     182             : /* ThreadTimer::Impl::threadFcn() //{ */
+     183             : 
+     184         216 : void ThreadTimer::Impl::threadFcn()
+     185             : {
+     186         216 :   while (ros::ok() && !ending_)
+     187             :   {
+     188             :     {
+     189         216 :       std::unique_lock lck(mutex_wakeup_);
+     190             :       // if the timer is not yet started, wait for condition variable notification
+     191         216 :       if (!running_ && !ending_)
+     192          16 :         wakeup_cond_.wait(lck);
+     193             :       // The thread either got cv-notified, or running_ was already true, or it got woken up for some other reason.
+     194             :       // Check if the reason is that we should end (and end if it is).
+     195         216 :       if (ending_)
+     196           8 :         break;
+     197             :       // Check if the timer is still paused - probably was a spurious wake up (and restart the wait if it is).
+     198         208 :       if (!running_)
+     199           0 :         continue;
+     200             :     }
+     201             : 
+     202             :     // If the flow got here, the thread should attempt to wait for the specified duration.
+     203             :     // first, copy the delay we should wait for in a thread-safe manner
+     204         208 :     ros::Time next_expected;
+     205             :     {
+     206         208 :       std::scoped_lock lck(mutex_state_);
+     207         208 :       next_expected = next_expected_;
+     208             :     }
+     209         208 :     const bool interrupted = !breakableSleep(next_expected);
+     210         208 :     if (interrupted)
+     211           8 :       continue;
+     212             : 
+     213             :     {
+     214             :       // make sure the state doesn't change here
+     215         200 :       std::scoped_lock lck(mutex_state_);
+     216             :       // Again, check if everything is OK (the state may have changed while the thread was a sleeping beauty).
+     217             :       // Check if we should end (and end if it is so).
+     218         200 :       if (ending_)
+     219           0 :         break;
+     220             :       // Check if the timer is paused (and skip if it is so).
+     221         200 :       if (!running_)
+     222           0 :         continue;
+     223             : 
+     224             :       // If all is fine and dandy, actually run the callback function!
+     225             :       // if the timer is a oneshot-type, automatically pause it
+     226             :       // and do not fill out the expected fields in timer_event (we had no expectations...)
+     227         200 :       const ros::Time now = ros::Time::now();
+     228             :       // prepare the timer event
+     229         200 :       ros::TimerEvent timer_event;
+     230         200 :       if (oneshot_)
+     231             :       {
+     232           0 :         running_ = false;
+     233           0 :         timer_event.last_real        = last_real_;
+     234           0 :         timer_event.current_real     = now;
+     235             :       }
+     236             :       else
+     237             :       {
+     238         200 :         timer_event.last_expected    = last_expected_;
+     239         200 :         timer_event.last_real        = last_real_;
+     240         200 :         timer_event.current_expected = next_expected_;
+     241         200 :         timer_event.current_real     = now;
+     242             : 
+     243         200 :         last_expected_ = next_expected_;
+     244         200 :         next_expected_ = now + delay_dur_;
+     245             :       }
+     246         200 :       last_real_ = now;
+     247             :       // call the callback
+     248         200 :       callback_(timer_event);
+     249             :     }
+     250             :   }
+     251           8 : }
+     252             : 
+     253             : //}
+     254             : 
+     255             : }  // namespace mrs_lib
+
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mrs_lib::TransformBroadcaster::sendTransform(std::vector<geometry_msgs::TransformStamped_<std::allocator<void> >, std::allocator<geometry_msgs::TransformStamped_<std::allocator<void> > > > const&)0
mrs_lib::TransformBroadcaster::TransformBroadcaster()93
mrs_lib::TransformBroadcaster::sendTransform(geometry_msgs::TransformStamped_<std::allocator<void> > const&)835406
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mrs_lib::TransformBroadcaster::TransformBroadcaster()93
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/transform_broadcaster.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : /* constructor //{ */
+       7          93 : TransformBroadcaster::TransformBroadcaster() {
+       8          93 :   broadcaster_ = tf2_ros::TransformBroadcaster();
+       9          93 : }
+      10             : //}
+      11             : 
+      12             : /* sendTransform (const geometry_msgs::TransformStamped &transform) //{ */
+      13      835406 : void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped &transform) {
+      14     1670359 :   std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      15      834573 :   if (last_messages_.count(frames_from_to) > 0) {
+      16      834635 :     if (transform.header.stamp > last_messages_[frames_from_to]) {
+      17      767257 :       broadcaster_.sendTransform(transform);
+      18      768019 :       last_messages_[frames_from_to] = transform.header.stamp;
+      19             :     } else {
+      20       66472 :       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        1013 :     std::pair<std::string, ros::Time> new_pair;
+      25         497 :     new_pair.first  = frames_from_to;
+      26         497 :     new_pair.second = transform.header.stamp;
+      27         497 :     broadcaster_.sendTransform(transform);
+      28         497 :     last_messages_.insert(new_pair);
+      29             :   }
+      30      835442 : }
+      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&)282
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)481
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)481
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)483
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)972
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&)6998
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)29207
mrs_lib::Transformer::setLatLon(double, double)63235
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&)611862
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2532478
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18528066.1 %
Date:2023-12-06 10:06:33Functions: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&)6998
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&)29207
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)972
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&)611862
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2532478
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&)481
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&)481
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)483
mrs_lib::Transformer::setLatLon(double, double)63235
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)282
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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Current view:top level - mrs_lib/src/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18528066.1 %
Date:2023-12-06 10:06:33Functions: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         282 :   Transformer::Transformer(const ros::NodeHandle& nh, const std::string& node_name, const ros::Duration& cache_time)
+      49         282 :     : 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         282 :   }
+      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        6998 :   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       13998 :     std::scoped_lock lck(mutex_);
+      81             : 
+      82        7000 :     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       14000 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+      90       14000 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+      91       14000 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+      92             : 
+      93        7000 :     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       63235 :   void Transformer::setLatLon(const double lat, const double lon)
+     118             :   {
+     119       63235 :     std::scoped_lock lck(mutex_);
+     120             : 
+     121             :     double utm_x, utm_y;
+     122       63027 :     mrs_lib::LLtoUTM(lat, lon, utm_y, utm_x, utm_zone_.data());
+     123       63022 :     got_utm_zone_ = true;
+     124       62790 :   }
+     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       29207 :   std::optional<mrs_msgs::ReferenceStamped> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const mrs_msgs::ReferenceStamped& what)
+     253             :   {
+     254             :     // create a pose message
+     255       58414 :     geometry_msgs::PoseStamped pose;
+     256       29207 :     pose.header = what.header;
+     257             :   
+     258       29207 :     pose.pose.position.x = what.reference.position.x;
+     259       29207 :     pose.pose.position.y = what.reference.position.y;
+     260       29207 :     pose.pose.position.z = what.reference.position.z;
+     261       29207 :     pose.pose.orientation = geometry::fromEigen(geometry::quaternionFromHeading(what.reference.heading));
+     262             :   
+     263             :     // try to transform the pose message
+     264       58414 :     const auto pose_opt = transformImpl(tf, pose);
+     265       29207 :     if (!pose_opt.has_value())
+     266           0 :       return std::nullopt;
+     267             :     // overwrite the pose with it's transformed value
+     268       29207 :     pose = pose_opt.value();
+     269             :   
+     270       58414 :     mrs_msgs::ReferenceStamped ret;
+     271       29207 :     ret.header = pose.header;
+     272             :   
+     273             :     // copy the new transformed data back
+     274       29207 :     ret.reference.position.x = pose.pose.position.x;
+     275       29207 :     ret.reference.position.y = pose.pose.position.y;
+     276       29207 :     ret.reference.position.z = pose.pose.position.z;
+     277       29207 :     ret.reference.heading = geometry::headingFromRot(geometry::toEigen(pose.pose.orientation));
+     278       29207 :     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      611862 :   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      611862 :     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      611862 :     if (from_frame.empty() || to_frame.empty())
+     312             :     {
+     313           4 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot transform to/from an empty frame!", node_name_.c_str());
+     314           4 :       return std::nullopt;
+     315             :     }
+     316             : 
+     317             :     // if the frames are the same, just return an identity transform
+     318      611848 :     if (from_frame == to_frame)
+     319      105020 :       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      559343 :     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      559342 :     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         968 :       const std::string utm_frame = getFramePrefix(to_frame) + "utm_origin";
+     337         968 :       auto tf_opt = getTransformImpl(from_frame, utm_frame, time_stamp, latlon_frame);
+     338         484 :       if (!tf_opt.has_value())
+     339           0 :         return std::nullopt;
+     340             :       // change the transformation frames to point to latlon
+     341         484 :       frame_to(*tf_opt) = to_frame;
+     342         484 :       return tf_opt;
+     343             :     }
+     344             : 
+     345     1676495 :     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      807321 :       return tf_buffer_->lookupTransform(to_frame, from_frame, time_stamp, lookup_timeout_);
+     351             :     }
+     352      620565 :     catch (tf2::TransformException& e)
+     353             :     {
+     354      310286 :       ex = e;
+     355             :     }
+     356             : 
+     357             :     // if that failed, try to get the newest one if requested
+     358      310286 :     if (retry_lookup_newest_)
+     359             :     {
+     360             :       try
+     361             :       {
+     362      616202 :         return tf_buffer_->lookupTransform(to_frame, from_frame, ros::Time(0), lookup_timeout_);
+     363             :       }
+     364        8606 :       catch (tf2::TransformException& e)
+     365             :       {
+     366        4303 :         ex = e;
+     367             :       }
+     368             :     }
+     369             : 
+     370             :     // if the flow got here, we've failed to look the transform up
+     371        4333 :     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        4333 :       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        4333 :     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     2532478 :   std::string Transformer::resolveFrameImpl(const std::string& frame_id)
+     464             :   {
+     465             :     // if the frame is empty, return the default frame id
+     466     2532478 :     if (frame_id.empty())
+     467       21641 :       return default_frame_id_;
+     468             : 
+     469             :     // if there is no prefix set, just return the raw frame id
+     470     2510813 :     if (prefix_.empty())
+     471     1630309 :       return frame_id;
+     472             : 
+     473             :     // if there is a default prefix set and the frame does not start with it, prefix it
+     474      880430 :     if (frame_id.substr(0, prefix_.length()) != prefix_)
+     475      586406 :       return prefix_ + frame_id;
+     476             : 
+     477      294125 :     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         483 :   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         483 :     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         482 :     geometry_msgs::Point latlon;
+     532         482 :     mrs_lib::UTMtoLL(what.y, what.x, utm_zone_.data(), latlon.x, latlon.y);
+     533         482 :     latlon.z = what.z;
+     534         482 :     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         481 :   std::optional<geometry_msgs::Pose> Transformer::UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix)
+     551             :   {
+     552         481 :     const auto opt = UTMtoLL(what.position, prefix);
+     553         481 :     if (!opt.has_value())
+     554           0 :       return std::nullopt;
+     555             : 
+     556         481 :     geometry_msgs::Pose ret;
+     557         481 :     ret.position = opt.value();
+     558         481 :     ret.orientation = what.orientation;
+     559         481 :     return ret;
+     560             :   }
+     561             : 
+     562         481 :   std::optional<geometry_msgs::PoseStamped> Transformer::UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix)
+     563             :   {
+     564         481 :     const auto opt = UTMtoLL(what.pose, prefix);
+     565         481 :     if (!opt.has_value())
+     566           0 :       return std::nullopt;
+     567             : 
+     568         962 :     geometry_msgs::PoseStamped ret;
+     569         481 :     ret.header.frame_id = prefix + "utm_origin";
+     570         481 :     ret.header.stamp = what.header.stamp;
+     571         481 :     ret.pose = opt.value();
+     572         481 :     return ret;
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* getFramePrefix() method //{ */
+     577         972 :   std::string Transformer::getFramePrefix(const std::string& frame_id)
+     578             :   {
+     579         972 :     const auto firstof = frame_id.find_first_of('/');
+     580         972 :     if (firstof == std::string::npos)
+     581           0 :       return "";
+     582             :     else
+     583         972 :       return frame_id.substr(0, firstof+1);
+     584             :   }
+     585             :   //}
+     586             : 
+     587             : }  // namespace mrs_lib
+
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Date:2023-12-06 10:06:33Functions:22100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)160302
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()160306
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/utils - utils.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:77100.0 %
Date:2023-12-06 10:06:33Functions: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      160302 : AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>& in)
+       7      160302 :   : variable(in)
+       8             : {
+       9      160302 :   variable = true;
+      10      160304 : }
+      11             : 
+      12      320612 : AtomicScopeFlag::~AtomicScopeFlag()
+      13             : {
+      14      160306 :   variable = false;
+      15      160306 : }
+      16             : 
+      17             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.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:21027875.5 %
Date:2023-12-06 10:06:33Functions:172085.0 %
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()0
mrs_uav_autostart::automatic_start::AutomaticStart::elandImpl()0
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()0
(anonymous namespace)::ProxyExec0::ProxyExec0()5
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)5
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()5
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()5
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)10
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)10
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)204
mrs_uav_autostart::automatic_start::AutomaticStart::speedCheck()960
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()960
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()960
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()960
mrs_uav_autostart::automatic_start::Topic::getTime()1920
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)2585
mrs_uav_autostart::automatic_start::Topic::updateTime()6582
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)6584
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&) const6584
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)26943
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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:21027875.5 %
Date:2023-12-06 10:06:33Functions:172085.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()5
mrs_uav_autostart::automatic_start::AutomaticStart::speedCheck()960
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()960
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)10
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)6584
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()960
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()960
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)26943
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)5
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)204
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()0
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()5
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()5
mrs_uav_autostart::automatic_start::AutomaticStart::elandImpl()0
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)2585
mrs_uav_autostart::automatic_start::Topic::updateTime()6582
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()0
mrs_uav_autostart::automatic_start::Topic::getTime()1920
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)10
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&) const6584
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html b/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html new file mode 100644 index 0000000000..dc21d0ec86 --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_autostart/src/automatic_start.cpp.gcov.html b/mrs_uav_autostart/src/automatic_start.cpp.gcov.html new file mode 100644 index 0000000000..8fe627847a --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.gcov.html @@ -0,0 +1,887 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp + + + + + + + + + + + + + + +
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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:21027875.5 %
Date:2023-12-06 10:06:33Functions:172085.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <mrs_lib/param_loader.h>
+       7             : #include <mrs_lib/mutex.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/publisher_handler.h>
+      10             : 
+      11             : #include <std_msgs/Bool.h>
+      12             : 
+      13             : #include <std_srvs/Trigger.h>
+      14             : #include <std_srvs/SetBool.h>
+      15             : 
+      16             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      17             : #include <mrs_msgs/UavManagerDiagnostics.h>
+      18             : #include <mrs_msgs/ValidateReference.h>
+      19             : #include <mrs_msgs/GazeboSpawnerDiagnostics.h>
+      20             : #include <mrs_msgs/HwApiStatus.h>
+      21             : #include <mrs_msgs/EstimationDiagnostics.h>
+      22             : 
+      23             : #include <topic_tools/shape_shifter.h>
+      24             : 
+      25             : //}
+      26             : 
+      27             : namespace mrs_uav_autostart
+      28             : {
+      29             : 
+      30             : namespace automatic_start
+      31             : {
+      32             : 
+      33             : /* class Topic //{ */
+      34             : 
+      35             : class Topic {
+      36             : private:
+      37             :   std::string topic_name_;
+      38             :   ros::Time   last_time_;
+      39             : 
+      40             : public:
+      41          10 :   Topic(std::string topic_name) : topic_name_(topic_name) {
+      42          10 :     last_time_ = ros::Time(0);
+      43          10 :   }
+      44             : 
+      45        6582 :   void updateTime(void) {
+      46        6582 :     last_time_ = ros::Time::now();
+      47        6587 :   }
+      48             : 
+      49        1920 :   ros::Time getTime(void) {
+      50        1920 :     return last_time_;
+      51             :   }
+      52             : 
+      53           0 :   std::string getTopicName(void) {
+      54           0 :     return topic_name_;
+      55             :   }
+      56             : };
+      57             : 
+      58             : //}
+      59             : 
+      60             : /* class AutomaticStart //{ */
+      61             : 
+      62             : // state machine
+      63             : typedef enum
+      64             : {
+      65             :   STATE_IDLE,
+      66             :   STATE_TAKEOFF,
+      67             :   STATE_FINISHED
+      68             : } LandingStates_t;
+      69             : 
+      70             : const char* state_names[4] = {"IDLING", "TAKEOFF", "FINISHED"};
+      71             : 
+      72             : class AutomaticStart : public nodelet::Nodelet {
+      73             : 
+      74             : public:
+      75             :   virtual void onInit();
+      76             : 
+      77             : private:
+      78             :   ros::NodeHandle   nh_;
+      79             :   std::atomic<bool> is_initialized_ = false;
+      80             : 
+      81             :   std::string _uav_name_;
+      82             :   bool        _simulation_;
+      83             : 
+      84             :   // | --------------------- service clients -------------------- |
+      85             : 
+      86             :   ros::ServiceClient service_client_toggle_control_output_;
+      87             :   ros::ServiceClient service_client_arm_;
+      88             :   ros::ServiceClient service_client_takeoff_;
+      89             :   ros::ServiceClient service_client_eland_;
+      90             :   ros::ServiceClient service_client_validate_reference_;
+      91             : 
+      92             :   // | ----------------------- subscribers ---------------------- |
+      93             : 
+      94             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>     sh_estimation_diag_;
+      95             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>               sh_hw_api_status_;
+      96             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+      97             :   mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>     sh_uav_manager_diag_;
+      98             :   mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>  sh_gazebo_spawner_diag_;
+      99             : 
+     100             :   // | ----------------------- publishers ----------------------- |
+     101             : 
+     102             :   mrs_lib::PublisherHandler<std_msgs::Bool> ph_can_takeoff_;
+     103             : 
+     104             :   // | ----------------------- main timer ----------------------- |
+     105             : 
+     106             :   ros::Timer timer_main_;
+     107             :   void       timerMain(const ros::TimerEvent& event);
+     108             :   double     _main_timer_rate_;
+     109             : 
+     110             :   // | ------------------- hw api diagnostics ------------------- |
+     111             : 
+     112             :   void              callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     113             :   std::atomic<bool> got_hw_api_status_ = false;
+     114             :   std::mutex        mutex_hw_api_status_;
+     115             : 
+     116             :   // | --------------- Gazebo spawner diagnostics --------------- |
+     117             : 
+     118             :   void                               callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg);
+     119             :   std::atomic<bool>                  got_gazebo_spawner_diagnostics = false;
+     120             :   mrs_msgs::GazeboSpawnerDiagnostics gazebo_spawner_diagnostics_;
+     121             :   std::mutex                         mutex_gazebo_spawner_diagnostics_;
+     122             : 
+     123             :   // | ----------------- arm and offboard check ----------------- |
+     124             : 
+     125             :   ros::Time armed_time_;
+     126             :   bool      armed_ = false;
+     127             : 
+     128             :   ros::Time offboard_time_;
+     129             :   bool      offboard_ = false;
+     130             : 
+     131             :   // | ------------------------ routines ------------------------ |
+     132             : 
+     133             :   bool takeoff();
+     134             : 
+     135             :   bool validateReference();
+     136             : 
+     137             :   bool toggleControlOutput(const bool& value);
+     138             :   bool disarm();
+     139             : 
+     140             :   bool isGazeboSimulation(void);
+     141             :   bool topicCheck(void);
+     142             :   bool speedCheck(void);
+     143             :   bool is_gazebo_simulation_ = false;
+     144             : 
+     145             :   // | ---------------------- other params ---------------------- |
+     146             : 
+     147             :   std::string _body_frame_name_;
+     148             :   double      _action_duration_;
+     149             :   double      _pre_takeoff_sleep_;
+     150             :   bool        _handle_takeoff_ = false;
+     151             :   double      _safety_timeout_;
+     152             :   double      _control_output_timeout_;
+     153             : 
+     154             :   // | ---------------------- state machine --------------------- |
+     155             : 
+     156             :   uint current_state = STATE_IDLE;
+     157             :   void changeState(LandingStates_t new_state);
+     158             : 
+     159             :   // | --------------------- velocity check --------------------- |
+     160             : 
+     161             :   bool   _velocity_check_enabled_ = false;
+     162             :   double _velocity_check_max_speed_;
+     163             : 
+     164             :   // | ---------------- generic topic subscribers --------------- |
+     165             : 
+     166             :   bool                     _topic_check_enabled_ = false;
+     167             :   double                   _topic_check_timeout_;
+     168             :   std::vector<std::string> _topic_check_topic_names_;
+     169             : 
+     170             :   std::vector<Topic>           topic_check_topics_;
+     171             :   std::vector<ros::Subscriber> generic_subscriber_vec_;
+     172             : 
+     173             :   // generic callback, for any topic, to monitor its rate
+     174             :   void genericCallback(const topic_tools::ShapeShifter::ConstPtr& msg, const std::string& topic_name, const int id);
+     175             : };
+     176             : 
+     177             : //}
+     178             : 
+     179             : /* onInit() //{ */
+     180             : 
+     181             : void AutomaticStart::onInit() {
+     182           5 : 
+     183             :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     184          10 : 
+     185             :   ros::Time::waitForValid();
+     186           5 : 
+     187             :   armed_      = false;
+     188           5 :   armed_time_ = ros::Time(0);
+     189           5 : 
+     190             :   offboard_      = false;
+     191           5 :   offboard_time_ = ros::Time(0);
+     192           5 : 
+     193             :   mrs_lib::ParamLoader param_loader(nh_, "AutomaticStart");
+     194          10 : 
+     195             :   std::string custom_config_path;
+     196          10 : 
+     197             :   param_loader.loadParam("custom_config", custom_config_path);
+     198           5 : 
+     199             :   if (custom_config_path != "") {
+     200           5 :     param_loader.addYamlFile(custom_config_path);
+     201           0 :   }
+     202             : 
+     203             :   param_loader.addYamlFileFromParam("config_private");
+     204           5 :   param_loader.addYamlFileFromParam("config_public");
+     205           5 : 
+     206             :   param_loader.loadParam("uav_name", _uav_name_);
+     207           5 :   param_loader.loadParam("simulation", _simulation_);
+     208           5 : 
+     209             :   param_loader.loadParam("main_timer_rate", _main_timer_rate_);
+     210           5 :   param_loader.loadParam("body_frame_name", _body_frame_name_);
+     211           5 :   param_loader.loadParam("control_output_timeout", _control_output_timeout_);
+     212           5 : 
+     213             :   param_loader.loadParam("safety_timeout", _safety_timeout_);
+     214           5 :   param_loader.loadParam("pre_takeoff_sleep", _pre_takeoff_sleep_);
+     215           5 : 
+     216             :   param_loader.loadParam("handle_takeoff", _handle_takeoff_);
+     217           5 : 
+     218             :   param_loader.loadParam("preflight_check/velocity_check/enabled", _velocity_check_enabled_);
+     219           5 :   param_loader.loadParam("preflight_check/velocity_check/max_speed", _velocity_check_max_speed_);
+     220           5 : 
+     221             :   param_loader.loadParam("preflight_check/topic_check/enabled", _topic_check_enabled_);
+     222           5 :   param_loader.loadParam("preflight_check/topic_check/timeout", _topic_check_timeout_);
+     223           5 :   param_loader.loadParam("preflight_check/topic_check/topics", _topic_check_topic_names_);
+     224           5 : 
+     225             :   if (!param_loader.loadedSuccessfully()) {
+     226           5 :     ROS_ERROR("[AutomaticStart]: Could not load all parameters!");
+     227           0 :     ros::shutdown();
+     228           0 :   }
+     229             : 
+     230             :   // | ----------------------- subscribers ---------------------- |
+     231             : 
+     232             :   mrs_lib::SubscribeHandlerOptions shopts;
+     233          10 :   shopts.nh                 = nh_;
+     234           5 :   shopts.node_name          = "AutomaticStart";
+     235           5 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     236           5 :   shopts.threadsafe         = true;
+     237           5 :   shopts.autostart          = true;
+     238           5 :   shopts.queue_size         = 10;
+     239           5 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     240           5 : 
+     241             :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diag_in");
+     242           5 :   sh_hw_api_status_        = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &AutomaticStart::callbackHwApiStatus, this);
+     243           5 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     244           5 :   sh_uav_manager_diag_     = mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>(shopts, "uav_manager_diagnostics_in");
+     245           5 :   sh_gazebo_spawner_diag_  = mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>(shopts, "gazebo_spawner_diagnostics_in",
+     246          10 :                                                                                           &AutomaticStart::callbackGazeboSpawnerDiagnostics, this);
+     247           5 : 
+     248             :   // | ----------------------- publishers ----------------------- |
+     249             : 
+     250             :   ph_can_takeoff_ = mrs_lib::PublisherHandler<std_msgs::Bool>(nh_, "can_takeoff_out");
+     251           5 : 
+     252             :   // | --------------------- service clients -------------------- |
+     253             : 
+     254             :   service_client_takeoff_               = nh_.serviceClient<std_srvs::Trigger>("takeoff_out");
+     255           5 :   service_client_eland_                 = nh_.serviceClient<std_srvs::Trigger>("eland_out");
+     256           5 :   service_client_toggle_control_output_ = nh_.serviceClient<std_srvs::SetBool>("toggle_control_output_out");
+     257           5 :   service_client_arm_                   = nh_.serviceClient<std_srvs::SetBool>("arm_out");
+     258           5 : 
+     259             :   service_client_validate_reference_ = nh_.serviceClient<mrs_msgs::ValidateReference>("validate_reference_out");
+     260           5 : 
+     261             :   // | ------------------ setup generic topics ------------------ |
+     262             : 
+     263             :   if (_topic_check_enabled_) {
+     264           5 : 
+     265             :     boost::function<void(const topic_tools::ShapeShifter::ConstPtr&)> callback;
+     266          10 : 
+     267             :     for (int i = 0; i < int(_topic_check_topic_names_.size()); i++) {
+     268          15 : 
+     269             :       std::string topic_name = _topic_check_topic_names_[i];
+     270          20 : 
+     271             :       if (topic_name.at(0) != '/') {
+     272          10 :         topic_name = "/" + _uav_name_ + "/" + topic_name;
+     273          10 :       }
+     274             : 
+     275             :       Topic tmp_topic(topic_name);
+     276          20 :       topic_check_topics_.push_back(tmp_topic);
+     277          10 : 
+     278             :       int id = i;  // id to identify which topic called the generic callback
+     279          10 : 
+     280             :       callback                       = [this, topic_name, id](const topic_tools::ShapeShifter::ConstPtr& msg) -> void { genericCallback(msg, topic_name, id); };
+     281        6594 :       ros::Subscriber tmp_subscriber = nh_.subscribe(topic_name, 1, callback);
+     282          30 : 
+     283             :       generic_subscriber_vec_.push_back(tmp_subscriber);
+     284          10 :     }
+     285             :   }
+     286             : 
+     287             :   // | ------------------------- timers ------------------------- |
+     288             : 
+     289             :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &AutomaticStart::timerMain, this);
+     290           5 : 
+     291             :   is_initialized_ = true;
+     292           5 : 
+     293             :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: initialized");
+     294           5 : }
+     295           5 : 
+     296             : //}
+     297             : 
+     298             : // --------------------------------------------------------------
+     299             : // |                          callbacks                         |
+     300             : // --------------------------------------------------------------
+     301             : 
+     302             : /* genericCallback() //{ */
+     303             : 
+     304             : void AutomaticStart::genericCallback([[maybe_unused]] const topic_tools::ShapeShifter::ConstPtr& msg, [[maybe_unused]] const std::string& topic_name,
+     305        6584 :                                      const int id) {
+     306             :   topic_check_topics_[id].updateTime();
+     307        6584 : }
+     308        6587 : 
+     309             : //}
+     310             : 
+     311             : /* callbackHwApiDiag() //{ */
+     312             : 
+     313             : void AutomaticStart::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+     314       26943 : 
+     315             :   if (!is_initialized_) {
+     316       26943 :     return;
+     317           0 :   }
+     318             : 
+     319             :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API diagnostics");
+     320       26943 : 
+     321             :   std::scoped_lock lock(mutex_hw_api_status_);
+     322       53886 : 
+     323             :   // check armed_ state
+     324             :   if (armed_ == false) {
+     325       26943 : 
+     326             :     // if armed_ state changed to true, please "start the clock"
+     327             :     if (msg->armed) {
+     328       10006 : 
+     329             :       armed_      = true;
+     330           5 :       armed_time_ = ros::Time::now();
+     331           5 :     }
+     332             : 
+     333             :     // if we were armed_ previously
+     334             :   } else if (armed_ == true) {
+     335       16937 : 
+     336             :     // and we are not really now
+     337             :     if (!msg->armed) {
+     338       16937 : 
+     339             :       armed_ = false;
+     340           0 :     }
+     341             :   }
+     342             : 
+     343             :   // check offboard_ state
+     344             :   if (offboard_ == false) {
+     345       26943 : 
+     346             :     // if offboard_ state changed to true, please "start the clock"
+     347             :     if (msg->offboard) {
+     348       10608 : 
+     349             :       offboard_      = true;
+     350           5 :       offboard_time_ = ros::Time::now();
+     351           5 :     }
+     352             : 
+     353             :     // if we were in offboard_ previously
+     354             :   } else if (offboard_ == true) {
+     355       16335 : 
+     356             :     // and we are not really now
+     357             :     if (!msg->offboard) {
+     358       16335 : 
+     359             :       offboard_ = false;
+     360           0 :     }
+     361             :   }
+     362             : 
+     363             :   if (msg->connected) {
+     364       26943 :     got_hw_api_status_ = true;
+     365       26869 :   }
+     366             : }
+     367             : 
+     368             : //}
+     369             : 
+     370             : /* callbackGazeboSpawnerDiagnostics() //{ */
+     371             : 
+     372             : void AutomaticStart::callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg) {
+     373         204 : 
+     374             :   if (!is_initialized_) {
+     375         204 :     return;
+     376           0 :   }
+     377             : 
+     378             :   ROS_INFO_ONCE("[AutomaticStart]: getting spawner diagnostics");
+     379         204 : 
+     380             :   {
+     381             :     std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     382         408 : 
+     383             :     gazebo_spawner_diagnostics_ = *msg;
+     384         204 : 
+     385             :     got_gazebo_spawner_diagnostics = true;
+     386         204 :   }
+     387             : }
+     388             : 
+     389             : //}
+     390             : 
+     391             : // --------------------------------------------------------------
+     392             : // |                           timers                           |
+     393             : // --------------------------------------------------------------
+     394             : 
+     395             : /* timerMain() //{ */
+     396             : 
+     397             : void AutomaticStart::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
+     398        2585 : 
+     399             :   if (!is_initialized_) {
+     400        2585 :     return;
+     401         888 :   }
+     402             : 
+     403             :   bool got_uav_manager_diag     = sh_uav_manager_diag_.hasMsg();
+     404        2585 :   bool got_control_manager_diag = sh_control_manager_diag_.hasMsg();
+     405        2585 :   bool got_estimation_diag      = sh_estimation_diag_.hasMsg();
+     406        2585 : 
+     407             :   if (!got_control_manager_diag || !got_hw_api_status_ || !got_uav_manager_diag || !got_estimation_diag) {
+     408        2585 :     ROS_WARN_THROTTLE(5.0, "[AutomaticStart]: waiting for data: ControManager=%s, UavManager=%s, HW Api=%s, EstimationManager=%s",
+     409         888 :                       got_control_manager_diag ? "true" : "FALSE", got_uav_manager_diag ? "true" : "FALSE", got_hw_api_status_ ? "true" : "FALSE",
+     410             :                       got_estimation_diag ? "true" : "FALSE");
+     411             :     return;
+     412         888 :   }
+     413             : 
+     414             :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     415        1697 :   auto control_manager_diagnostics                  = sh_control_manager_diag_.getMsg();
+     416        1697 : 
+     417             :   switch (current_state) {
+     418        1697 : 
+     419             :     case STATE_IDLE: {
+     420         960 : 
+     421             :       bool   control_output   = sh_control_manager_diag_.getMsg()->output_enabled;
+     422         960 :       double time_from_arming = (ros::Time::now() - armed_time).toSec();
+     423         960 : 
+     424             :       std_msgs::Bool can_takeoff_msg;
+     425         960 :       can_takeoff_msg.data = false;
+     426         960 : 
+     427             :       // | -------------------- preflight checks -------------------- |
+     428             : 
+     429             :       bool position_valid = validateReference();
+     430         960 :       bool got_topics     = topicCheck();
+     431         960 :       bool speed_valid    = speedCheck();
+     432         960 : 
+     433             :       bool can_takeoff = got_topics && position_valid && speed_valid;
+     434         960 : 
+     435             :       // | ---------------------------------------------------------- |
+     436             : 
+     437             :       can_takeoff_msg.data = can_takeoff;
+     438         960 :       ph_can_takeoff_.publish(can_takeoff_msg);
+     439         960 : 
+     440             :       if (armed && !control_output) {
+     441         960 : 
+     442             :         if (can_takeoff) {
+     443           5 : 
+     444             :           bool res = toggleControlOutput(true);
+     445           5 : 
+     446             :           if (!res) {
+     447           5 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON");
+     448           0 :           }
+     449             :         }
+     450             : 
+     451             :         if (time_from_arming > _control_output_timeout_) {
+     452           5 : 
+     453             :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON for %.2f secs, disarming", _control_output_timeout_);
+     454           0 :           disarm();
+     455           0 :           changeState(STATE_FINISHED);
+     456           0 :         }
+     457             :       }
+     458             : 
+     459             :       if (_simulation_ && isGazeboSimulation()) {
+     460         960 : 
+     461             :         std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     462         188 : 
+     463             :         if (got_gazebo_spawner_diagnostics) {
+     464         188 : 
+     465             :           if (!gazebo_spawner_diagnostics_.spawn_called || gazebo_spawner_diagnostics_.processing) {
+     466         188 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) waiting for spawner to finish spawning UAVs");
+     467           0 :             return;
+     468           0 :           }
+     469             : 
+     470             :         } else {
+     471             : 
+     472             :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) missing spawner diagnostics");
+     473           0 :           return;
+     474           0 :         }
+     475             :       }
+     476             : 
+     477             :       // when armed and in offboard, takeoff
+     478             :       if (armed && offboard && control_output) {
+     479         960 : 
+     480             :         double armed_time_diff    = (ros::Time::now() - armed_time).toSec();
+     481         755 :         double offboard_time_diff = (ros::Time::now() - offboard_time).toSec();
+     482         755 : 
+     483             :         if ((armed_time_diff > _safety_timeout_) && (offboard_time_diff > _safety_timeout_)) {
+     484         755 : 
+     485             :           if (_handle_takeoff_) {
+     486           5 :             changeState(STATE_TAKEOFF);
+     487           5 :           } else {
+     488             :             changeState(STATE_FINISHED);
+     489           0 :           }
+     490             : 
+     491             :         } else {
+     492             : 
+     493             :           double min = (armed_time_diff < offboard_time_diff) ? armed_time_diff : offboard_time_diff;
+     494         750 : 
+     495             :           ROS_WARN_THROTTLE(1.0, "taking off in %.0f", (_safety_timeout_ - min));
+     496         750 :         }
+     497             :       }
+     498             : 
+     499             :       break;
+     500         960 :     }
+     501             : 
+     502             :     case STATE_TAKEOFF: {
+     503         732 : 
+     504             :       // if takeoff finished
+     505             :       if (control_manager_diagnostics->flying_normally) {
+     506         732 : 
+     507             :         ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: takeoff finished");
+     508           5 : 
+     509             :         changeState(STATE_FINISHED);
+     510           5 : 
+     511             :       } else {
+     512             : 
+     513             :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: waiting for the takeoff to finish");
+     514         727 :       }
+     515             : 
+     516             :       break;
+     517         732 :     }
+     518             : 
+     519             :     case STATE_FINISHED: {
+     520           5 : 
+     521             :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: finished");
+     522           5 :       ros::requestShutdown();
+     523           5 :       break;
+     524           5 :     }
+     525             :   }
+     526             : 
+     527             : }  // namespace automatic_start
+     528             : 
+     529             : //}
+     530             : 
+     531             : // --------------------------------------------------------------
+     532             : // |                          routines                          |
+     533             : // --------------------------------------------------------------
+     534             : 
+     535             : /* changeState() //{ */
+     536             : 
+     537             : void AutomaticStart::changeState(LandingStates_t new_state) {
+     538          10 : 
+     539             :   ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: switching states %s -> %s", state_names[current_state], state_names[new_state]);
+     540          10 : 
+     541             :   switch (new_state) {
+     542          10 : 
+     543             :     case STATE_IDLE: {
+     544           0 : 
+     545             :       break;
+     546           0 :     }
+     547             : 
+     548             :     case STATE_TAKEOFF: {
+     549           5 : 
+     550             :       if (_pre_takeoff_sleep_ > 1.0) {
+     551           5 :         ROS_INFO("[AutomaticStart]: sleeping for %.2f secs before takeoff", _pre_takeoff_sleep_);
+     552           0 :         ros::Duration(_pre_takeoff_sleep_).sleep();
+     553           0 :       }
+     554             : 
+     555             :       bool res = takeoff();
+     556           5 : 
+     557             :       if (!res) {
+     558           5 :         return;
+     559           0 :       }
+     560             : 
+     561             :       break;
+     562           5 :     }
+     563             : 
+     564             :     case STATE_FINISHED: {
+     565           5 : 
+     566             :       break;
+     567           5 :     }
+     568             : 
+     569             :     break;
+     570             :   }
+     571             : 
+     572             :   current_state = new_state;
+     573          10 : }
+     574             : 
+     575             : //}
+     576             : 
+     577             : /* takeoff() //{ */
+     578             : 
+     579             : bool AutomaticStart::takeoff() {
+     580           5 : 
+     581             :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: taking off");
+     582           5 : 
+     583             :   std_srvs::Trigger srv;
+     584          10 : 
+     585             :   bool res = service_client_takeoff_.call(srv);
+     586           5 : 
+     587             :   if (res) {
+     588           5 : 
+     589             :     if (srv.response.success) {
+     590           5 : 
+     591             :       return true;
+     592           5 : 
+     593             :     } else {
+     594             : 
+     595             :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: taking off failed: %s", srv.response.message.c_str());
+     596           0 :     }
+     597             : 
+     598             :   } else {
+     599             : 
+     600             :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for taking off failed");
+     601           0 :   }
+     602             : 
+     603             :   return false;
+     604           0 : }
+     605             : 
+     606             : //}
+     607             : 
+     608             : /* validateReference() //{ */
+     609             : 
+     610             : bool AutomaticStart::validateReference() {
+     611           0 : 
+     612             :   mrs_msgs::ValidateReference srv_out;
+     613           0 : 
+     614             :   srv_out.request.reference.header.frame_id = _body_frame_name_;
+     615           0 : 
+     616             :   bool res = service_client_validate_reference_.call(srv_out);
+     617           0 : 
+     618             :   if (res) {
+     619           0 : 
+     620             :     if (srv_out.response.success) {
+     621           0 : 
+     622             :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: current position is valid");
+     623           0 :       return true;
+     624             : 
+     625             :     } else {
+     626             : 
+     627           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position is not valid (safety area, bumper)!");
+     628             :       return false;
+     629             :     }
+     630             : 
+     631             :   } else {
+     632           0 : 
+     633             :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position could not be validated");
+     634             :     return false;
+     635           0 :   }
+     636             : }
+     637             : 
+     638             : //}
+     639             : 
+     640             : /* toggleControlOutput() //{ */
+     641             : 
+     642         960 : bool AutomaticStart::toggleControlOutput(const bool& value) {
+     643             : 
+     644        1920 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: setting control output %s", value ? "ON" : "OFF");
+     645             : 
+     646         960 :   std_srvs::SetBool srv;
+     647             :   srv.request.data = value;
+     648         960 : 
+     649             :   bool res = service_client_toggle_control_output_.call(srv);
+     650         960 : 
+     651             :   if (res) {
+     652         960 : 
+     653             :     if (srv.response.success) {
+     654         960 : 
+     655         960 :       return true;
+     656             : 
+     657             :     } else {
+     658             : 
+     659           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: setting of control output failed: %s", srv.response.message.c_str());
+     660           0 :     }
+     661             : 
+     662             :   } else {
+     663             : 
+     664             :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for toggling control output failed");
+     665           0 :   }
+     666           0 : 
+     667             :   return false;
+     668             : }
+     669             : 
+     670             : //}
+     671             : 
+     672             : /* disarm() //{ */
+     673             : 
+     674           5 : bool AutomaticStart::disarm() {
+     675             : 
+     676           5 :   if (!got_hw_api_status_) {
+     677             : 
+     678          10 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, missing HW API status!");
+     679           5 : 
+     680             :     return false;
+     681           5 :   }
+     682             : 
+     683           5 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     684             : 
+     685           5 :   if (offboard) {
+     686             : 
+     687           5 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, already in offboard mode!");
+     688             : 
+     689             :     return false;
+     690             :   }
+     691           0 : 
+     692             :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: disarming");
+     693             : 
+     694             :   std_srvs::SetBool srv;
+     695             :   srv.request.data = false;
+     696           0 : 
+     697             :   bool res = service_client_arm_.call(srv);
+     698             : 
+     699           0 :   if (res) {
+     700             : 
+     701             :     if (srv.response.success) {
+     702             : 
+     703             :       return true;
+     704             : 
+     705             :     } else {
+     706           0 : 
+     707             :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: disarming failed");
+     708           0 :     }
+     709             : 
+     710           0 :   } else {
+     711             : 
+     712           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for disarming failed");
+     713             :   }
+     714             : 
+     715           0 :   return false;
+     716             : }
+     717           0 : 
+     718             : //}
+     719           0 : 
+     720             : /* isGazeboSimulation() //{ */
+     721           0 : 
+     722             : bool AutomaticStart::isGazeboSimulation(void) {
+     723             : 
+     724           0 :   if (is_gazebo_simulation_) {
+     725             :     return true;
+     726           0 :   }
+     727           0 : 
+     728             :   ros::V_string node_list;
+     729           0 :   ros::master::getNodes(node_list);
+     730             : 
+     731           0 :   for (auto& node : node_list) {
+     732             :     if (node.find("mrs_drone_spawner") != std::string::npos) {
+     733           0 :       ROS_INFO("[AutomaticStart]: MRS Gazebo Simulation detected");
+     734             :       is_gazebo_simulation_ = true;
+     735           0 :       return true;
+     736             :     }
+     737             :   }
+     738             : 
+     739           0 :   return false;
+     740             : }
+     741             : 
+     742             : //}
+     743             : 
+     744           0 : /* topicCheck() //{ */
+     745             : 
+     746             : bool AutomaticStart::topicCheck(void) {
+     747           0 : 
+     748             :   bool got_topics = true;
+     749             : 
+     750             :   std::stringstream missing_topics;
+     751             : 
+     752             :   if (_topic_check_enabled_) {
+     753             : 
+     754         960 :     for (int i = 0; i < int(topic_check_topics_.size()); i++) {
+     755             :       if ((ros::Time::now() - topic_check_topics_[i].getTime()).toSec() > _topic_check_timeout_) {
+     756         960 :         missing_topics << std::endl << "\t" << topic_check_topics_[i].getTopicName();
+     757         187 :         got_topics = false;
+     758             :       }
+     759             :     }
+     760        1546 :   }
+     761         773 : 
+     762             :   if (!got_topics) {
+     763       10811 :     ROS_WARN_STREAM_THROTTLE(1.0, "[AutomaticStart]: missing data on topics: " << missing_topics.str());
+     764       10039 :   }
+     765           1 : 
+     766           1 :   return got_topics;
+     767           1 : }
+     768             : 
+     769             : //}
+     770             : 
+     771         772 : /* velocityCheck() //{ */
+     772             : 
+     773             : bool AutomaticStart::speedCheck(void) {
+     774             : 
+     775             :   if (!_velocity_check_enabled_) {
+     776             :     return true;
+     777             :   }
+     778         960 : 
+     779             :   if (!sh_estimation_diag_.hasMsg()) {
+     780         960 :     return false;
+     781             :   }
+     782         960 : 
+     783             :   auto estimation_diag = sh_estimation_diag_.getMsg();
+     784         960 : 
+     785             :   double speed =
+     786        2880 :       sqrt(pow(estimation_diag->velocity.linear.x, 2.0) + pow(estimation_diag->velocity.linear.y, 2.0) + pow(estimation_diag->velocity.linear.z, 2.0));
+     787        1920 : 
+     788           0 :   if (speed > _velocity_check_max_speed_) {
+     789           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the estimated speed (%.2f ms^-2) is over the limit (%.2f ms^-2)", speed, _velocity_check_max_speed_);
+     790             :     return false;
+     791             :   }
+     792             : 
+     793             :   return true;
+     794         960 : }
+     795           0 : 
+     796             : //}
+     797             : 
+     798        1920 : }  // namespace automatic_start
+     799             : 
+     800             : }  // namespace mrs_uav_autostart
+     801             : 
+     802             : #include <pluginlib/class_list_macros.h>
+     803             : PLUGINLIB_EXPORT_CLASS(mrs_uav_autostart::automatic_start::AutomaticStart, nodelet::Nodelet)
+
+
+
+ + + + +
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)2
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)19
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)19
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&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)12
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&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)3
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          Line data    Source code
+
+       1             : #ifndef MRS_UAV_CONTROLLERS_COMMON_H
+       2             : #define MRS_UAV_CONTROLLERS_COMMON_H
+       3             : 
+       4             : #include <eigen3/Eigen/Eigen>
+       5             : #include <mrs_uav_managers/control_manager/common_handlers.h>
+       6             : #include <mrs_uav_managers/controller.h>
+       7             : #include <mrs_lib/attitude_converter.h>
+       8             : 
+       9             : namespace mrs_uav_controllers
+      10             : {
+      11             : 
+      12             : namespace common
+      13             : {
+      14             : 
+      15             : enum CONTROL_OUTPUT
+      16             : {
+      17             :   ACTUATORS_CMD,
+      18             :   CONTROL_GROUP,
+      19             :   ATTITUDE_RATE,
+      20             :   ATTITUDE,
+      21             :   ACCELERATION_HDG_RATE,
+      22             :   ACCELERATION_HDG,
+      23             :   VELOCITY_HDG_RATE,
+      24             :   VELOCITY_HDG,
+      25             :   POSITION
+      26             : };
+      27             : 
+      28             : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd);
+      29             : 
+      30             : std::optional<Eigen::Vector3d> sanitizeDesiredForce(const Eigen::Vector3d& desired_force, const double& tilt_over_limit, const double& tilt_saturation,
+      31             :                                                     const std::string& node_name);
+      32             : 
+      33             : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading);
+      34             : 
+      35             : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs);
+      36             : 
+      37             : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs);
+      38             : 
+      39             : std::optional<mrs_msgs::HwApiAttitudeRateCmd> attitudeController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeCmd& reference,
+      40             :                                                                  const Eigen::Vector3d& ff_rate, const Eigen::Vector3d& rate_saturation,
+      41             :                                                                  const Eigen::Vector3d& gains, const bool& parasitic_heading_rate_compensation);
+      42             : 
+      43             : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+      44             :                                                                      const Eigen::Vector3d& gains);
+      45             : 
+      46             : 
+      47             : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer);
+      48             : 
+      49             : /* throttle extraction //{ */
+      50             : 
+      51             : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output);
+      52             : 
+      53             : struct HwApiCmdExtractThrottleVisitor
+      54             : {
+      55           3 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      56             : 
+      57           3 :     double throttle = 0;
+      58             : 
+      59           3 :     if (msg.motors.size() == 0) {
+      60           0 :       return std::nullopt;
+      61             :     }
+      62             : 
+      63           3 :     throttle = 0;
+      64             : 
+      65          15 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      66          12 :       throttle += msg.motors[i];
+      67             :     };
+      68             : 
+      69           3 :     throttle /= msg.motors.size();
+      70             : 
+      71           3 :     return throttle;
+      72             :   }
+      73           3 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      74           3 :     return msg.throttle;
+      75             :   }
+      76          19 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      77          19 :     return msg.throttle;
+      78             :   }
+      79          12 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      80          12 :     return msg.throttle;
+      81             :   }
+      82           3 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      83           3 :     return std::nullopt;
+      84             :   }
+      85           3 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      86           3 :     return std::nullopt;
+      87             :   }
+      88           3 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      89           3 :     return std::nullopt;
+      90             :   }
+      91           3 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      92           3 :     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()564
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mrs_uav_controllers::PIDController::PIDController()564
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mrs_uav_controllers::PIDController::update(double const&, double const&)3453
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mrs_uav_controllers::PIDController::setSaturation(double)3453
mrs_uav_controllers::PIDController::reset()564
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mrs_uav_controllers::PIDController::setParams(double const&, double const&, double const&, double const&, double const&)564
mrs_uav_controllers::PIDController::PIDController()564
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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         564 : PIDController::PIDController() {
+      43             : 
+      44         564 :   this->reset();
+      45         564 : }
+      46             : 
+      47         564 : void PIDController::setParams(const double &kp, const double &kd, const double &ki, const double &saturation, const double &antiwindup) {
+      48             : 
+      49         564 :   this->_kp_       = kp;
+      50         564 :   this->_kd_       = kd;
+      51         564 :   this->_ki_       = ki;
+      52         564 :   this->saturation = saturation;
+      53         564 :   this->antiwindup = antiwindup;
+      54         564 : }
+      55             : 
+      56        3453 : void PIDController::setSaturation(const double saturation) {
+      57             : 
+      58        3453 :   this->saturation = saturation;
+      59        3453 : }
+      60             : 
+      61         564 : void PIDController::reset(void) {
+      62             : 
+      63         564 :   this->last_error_ = 0;
+      64         564 :   this->integral_   = 0;
+      65         564 : }
+      66             : 
+      67        3453 : double PIDController::update(const double &error, const double &dt) {
+      68             : 
+      69             :   // calculate the control error difference
+      70        3453 :   double difference = (error - last_error_) / dt;
+      71        3453 :   last_error_       = error;
+      72             : 
+      73        3453 :   double p_component = _kp_ * error;       // proportional feedback
+      74        3453 :   double d_component = _kd_ * difference;  // derivative feedback
+      75        3453 :   double i_component = _ki_ * integral_;   // derivative feedback
+      76             : 
+      77        3453 :   double sum = p_component + d_component + i_component;
+      78             : 
+      79        3453 :   if (saturation > 0) {
+      80        3453 :     if (sum >= saturation) {
+      81           0 :       sum = saturation;
+      82        3453 :     } else if (sum <= -saturation) {
+      83           0 :       sum = -saturation;
+      84             :     }
+      85             :   }
+      86             : 
+      87        3453 :   if (antiwindup > 0) {
+      88        3453 :     if (std::abs(sum) < antiwindup) {
+      89             :       // add to the integral
+      90        3122 :       integral_ += error * dt;
+      91             :     }
+      92             :   }
+      93             : 
+      94             :   // return the summ of the components
+      95        3453 :   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&)105
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)2664
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)2912
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&)5632
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)26466
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&)26466
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&)27634
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&)27634
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)30262
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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&)27634
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)2912
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)30262
mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)105
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)2664
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)26466
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&)26466
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&)27634
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&)5632
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Test:MRS UAV System - Test coverage reportLines:13415984.3 %
Date:2023-12-06 10:06:33Functions: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       26466 : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd) {
+      12             : 
+      13             :   // orientation error
+      14       26466 :   Eigen::Matrix3d R_error = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
+      15             : 
+      16             :   // vectorize the orientation error
+      17             :   // clang-format off
+      18       26466 :     Eigen::Vector3d R_error_vec;
+      19       26466 :     R_error_vec << (R_error(1, 2) - R_error(2, 1)) / 2.0,
+      20       26466 :                    (R_error(2, 0) - R_error(0, 2)) / 2.0,
+      21       26466 :                    (R_error(0, 1) - R_error(1, 0)) / 2.0;
+      22             :   // clang-format on
+      23             : 
+      24       52932 :   return R_error_vec;
+      25             : }
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* sanitizeDesiredForce() //{ */
+      30             : 
+      31       27634 : 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       27634 :   double theta = acos(input[2]);
+      36       27634 :   double phi   = atan2(input[1], input[0]);
+      37             : 
+      38             :   // check for the failsafe limit
+      39       27634 :   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       27634 :   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       27634 :   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       27634 :   Eigen::Vector3d output(sin(theta) * cos(phi), sin(theta) * sin(phi), cos(theta));
+      63             : 
+      64       27634 :   return {output};
+      65             : }
+      66             : 
+      67             : //}
+      68             : 
+      69             : /* so3transform() //{ */
+      70             : 
+      71       27634 : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading) {
+      72             : 
+      73       27634 :   Eigen::Vector3d body_z_normed = body_z.normalized();
+      74             : 
+      75       27634 :   Eigen::Matrix3d Rd;
+      76             : 
+      77       27634 :   if (preserve_heading) {
+      78             : 
+      79        7742 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Baca's method");
+      80             : 
+      81             :     // | ------------------------- body z ------------------------- |
+      82        7742 :     Rd.col(2) = body_z_normed;
+      83             : 
+      84             :     // | ------------------------- body x ------------------------- |
+      85             : 
+      86             :     // construct the oblique projection
+      87        7742 :     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       15484 :     Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+      91        7742 :     A.col(0)          = projector_body_z_compl.col(0);
+      92        7742 :     A.col(1)          = projector_body_z_compl.col(1);
+      93             : 
+      94             :     // create the basis of the projection null-space complement
+      95       15484 :     Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+      96        7742 :     B.col(0)          = Eigen::Vector3d(1, 0, 0);
+      97        7742 :     B.col(1)          = Eigen::Vector3d(0, 1, 0);
+      98             : 
+      99             :     // oblique projector to <range_basis>
+     100       15484 :     Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     101       15484 :     Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     102        7742 :     Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     103             : 
+     104        7742 :     Rd.col(0) = oblique_projector * heading;
+     105        7742 :     Rd.col(0).normalize();
+     106             : 
+     107             :     // | ------------------------- body y ------------------------- |
+     108             : 
+     109        7742 :     Rd.col(1) = Rd.col(2).cross(Rd.col(0));
+     110        7742 :     Rd.col(1).normalize();
+     111             : 
+     112             :   } else {
+     113             : 
+     114       19892 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Lee's method");
+     115             : 
+     116       19892 :     Rd.col(2) = body_z_normed;
+     117       19892 :     Rd.col(1) = Rd.col(2).cross(heading);
+     118       19892 :     Rd.col(1).normalize();
+     119       19892 :     Rd.col(0) = Rd.col(1).cross(Rd.col(2));
+     120       19892 :     Rd.col(0).normalize();
+     121             :   }
+     122             : 
+     123       55268 :   return Rd;
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* getLowestOutput() //{ */
+     129             : 
+     130       30262 : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     131             : 
+     132       30262 :   if (outputs.actuators) {
+     133        2784 :     return ACTUATORS_CMD;
+     134             :   }
+     135             : 
+     136       27478 :   if (outputs.control_group) {
+     137        2588 :     return CONTROL_GROUP;
+     138             :   }
+     139             : 
+     140       24890 :   if (outputs.attitude_rate) {
+     141       20707 :     return ATTITUDE_RATE;
+     142             :   }
+     143             : 
+     144        4183 :   if (outputs.attitude) {
+     145        1555 :     return ATTITUDE;
+     146             :   }
+     147             : 
+     148        2628 :   if (outputs.acceleration_hdg_rate) {
+     149         762 :     return ACCELERATION_HDG_RATE;
+     150             :   }
+     151             : 
+     152        1866 :   if (outputs.acceleration_hdg) {
+     153         733 :     return ACCELERATION_HDG;
+     154             :   }
+     155             : 
+     156        1133 :   if (outputs.velocity_hdg_rate) {
+     157         384 :     return VELOCITY_HDG_RATE;
+     158             :   }
+     159             : 
+     160         749 :   if (outputs.velocity_hdg) {
+     161         385 :     return VELOCITY_HDG;
+     162             :   }
+     163             : 
+     164         364 :   if (outputs.position) {
+     165         364 :     return POSITION;
+     166             :   }
+     167             : 
+     168           0 :   return {};
+     169             : }
+     170             : 
+     171             : //}
+     172             : 
+     173             : /* getHighestOutput() //{ */
+     174             : 
+     175        2664 : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     176             : 
+     177        2664 :   if (outputs.position) {
+     178           2 :     return POSITION;
+     179             :   }
+     180             : 
+     181        2662 :   if (outputs.velocity_hdg) {
+     182         126 :     return VELOCITY_HDG;
+     183             :   }
+     184             : 
+     185        2536 :   if (outputs.velocity_hdg_rate) {
+     186         130 :     return VELOCITY_HDG_RATE;
+     187             :   }
+     188             : 
+     189        2406 :   if (outputs.acceleration_hdg) {
+     190         138 :     return ACCELERATION_HDG;
+     191             :   }
+     192             : 
+     193        2268 :   if (outputs.acceleration_hdg_rate) {
+     194         129 :     return ACCELERATION_HDG_RATE;
+     195             :   }
+     196             : 
+     197        2139 :   if (outputs.attitude) {
+     198        1647 :     return ATTITUDE;
+     199             :   }
+     200             : 
+     201         492 :   if (outputs.attitude_rate) {
+     202         147 :     return ATTITUDE_RATE;
+     203             :   }
+     204             : 
+     205         345 :   if (outputs.control_group) {
+     206         174 :     return CONTROL_GROUP;
+     207             :   }
+     208             : 
+     209         171 :   if (outputs.actuators) {
+     210         171 :     return ACTUATORS_CMD;
+     211             :   }
+     212             : 
+     213           0 :   return {};
+     214             : }
+     215             : 
+     216             : //}
+     217             : 
+     218             : /* extractThrottle() //{ */
+     219             : 
+     220         105 : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output) {
+     221             : 
+     222         105 :   if (!control_output.control_output) {
+     223          54 :     return {};
+     224             :   }
+     225             : 
+     226         102 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* attitudeController() //{ */
+     232             : 
+     233       26466 : 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       26466 :   Eigen::Matrix3d R  = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     238       26466 :   Eigen::Matrix3d Rd = mrs_lib::AttitudeConverter(reference.orientation);
+     239             : 
+     240             :   // calculate the orientation error
+     241       26466 :   Eigen::Vector3d E = common::orientationError(R, Rd);
+     242             : 
+     243       26466 :   Eigen::Vector3d rate_feedback = gains.array() * E.array() + ff_rate.array();
+     244             : 
+     245             :   // | ----------- parasitic heading rate compensation ---------- |
+     246             : 
+     247       26466 :   if (parasitic_heading_rate_compensation) {
+     248             : 
+     249        6981 :     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        6981 :     Eigen::Vector3d rp_heading_rate_compensation(0, 0, 0);
+     253             : 
+     254        6981 :     Eigen::Vector3d q_feedback_yawless = rate_feedback;
+     255        6981 :     q_feedback_yawless(2)              = 0;  // nullyfy the effect of the original yaw feedback
+     256             : 
+     257        6981 :     double parasitic_heading_rate = 0;
+     258             : 
+     259             :     try {
+     260        6981 :       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        6981 :       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        6981 :     rate_feedback += rp_heading_rate_compensation;
+     274             :   }
+     275             : 
+     276             :   // | --------------- saturate the attitude rate --------------- |
+     277             : 
+     278       26466 :   if (rate_feedback[0] > rate_saturation[0]) {
+     279           0 :     rate_feedback[0] = rate_saturation[0];
+     280       26466 :   } else if (rate_feedback[0] < -rate_saturation[0]) {
+     281           0 :     rate_feedback[0] = -rate_saturation[0];
+     282             :   }
+     283             : 
+     284       26466 :   if (rate_feedback[1] > rate_saturation[1]) {
+     285           0 :     rate_feedback[1] = rate_saturation[1];
+     286       26466 :   } else if (rate_feedback[1] < -rate_saturation[1]) {
+     287           0 :     rate_feedback[1] = -rate_saturation[1];
+     288             :   }
+     289             : 
+     290       26466 :   if (rate_feedback[2] > rate_saturation[2]) {
+     291           0 :     rate_feedback[2] = rate_saturation[2];
+     292       26466 :   } 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       26466 :   mrs_msgs::HwApiAttitudeRateCmd cmd;
+     299             : 
+     300       26466 :   cmd.stamp = ros::Time::now();
+     301             : 
+     302       26466 :   cmd.body_rate.x = rate_feedback[0];
+     303       26466 :   cmd.body_rate.y = rate_feedback[1];
+     304       26466 :   cmd.body_rate.z = rate_feedback[2];
+     305             : 
+     306       26466 :   cmd.throttle = reference.throttle;
+     307             : 
+     308       52932 :   return cmd;
+     309             : }
+     310             : 
+     311             : //}
+     312             : 
+     313             : /* attitudeRateController() //{ */
+     314             : 
+     315        5632 : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+     316             :                                                                      const Eigen::Vector3d& gains) {
+     317             : 
+     318        5632 :   Eigen::Vector3d des_rate(reference.body_rate.x, reference.body_rate.y, reference.body_rate.z);
+     319        5632 :   Eigen::Vector3d cur_rate(uav_state.velocity.angular.x, uav_state.velocity.angular.y, uav_state.velocity.angular.z);
+     320             : 
+     321        5632 :   Eigen::Vector3d ctrl_group_action = (des_rate - cur_rate).array() * gains.array();
+     322             : 
+     323        5632 :   mrs_msgs::HwApiControlGroupCmd cmd;
+     324             : 
+     325        5632 :   cmd.stamp = ros::Time::now();
+     326             : 
+     327        5632 :   cmd.throttle = reference.throttle;
+     328             : 
+     329        5632 :   cmd.roll  = ctrl_group_action[0];
+     330        5632 :   cmd.pitch = ctrl_group_action[1];
+     331        5632 :   cmd.yaw   = ctrl_group_action[2];
+     332             : 
+     333       11264 :   return {cmd};
+     334             : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* actuatorMixer() //{ */
+     339             : 
+     340        2912 : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer) {
+     341             : 
+     342        2912 :   Eigen::Vector4d ctrl_group(ctrl_group_cmd.roll, ctrl_group_cmd.pitch, ctrl_group_cmd.yaw, ctrl_group_cmd.throttle);
+     343             : 
+     344        5824 :   Eigen::VectorXd motors = mixer * ctrl_group;
+     345             : 
+     346        2912 :   double min = motors.minCoeff();
+     347             : 
+     348        2912 :   if (min < 0.0) {
+     349           0 :     motors.array() += abs(min);
+     350             :   }
+     351             : 
+     352        2912 :   double max = motors.maxCoeff();
+     353             : 
+     354        2912 :   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        2912 :   mrs_msgs::HwApiActuatorCmd actuator_msg;
+     373             : 
+     374        2912 :   actuator_msg.stamp = ros::Time::now();
+     375             : 
+     376       14560 :   for (int i = 0; i < motors.size(); i++) {
+     377       11648 :     actuator_msg.motors.push_back(motors[i]);
+     378             :   }
+     379             : 
+     380        5824 :   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:16819486.6 %
Date:2023-12-06 10:06:33Functions: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::deactivate()8
mrs_uav_controllers::failsafe_controller::FailsafeController::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)9
mrs_uav_controllers::failsafe_controller::FailsafeController::activate(mrs_uav_managers::Controller::ControlOutput const&)9
(anonymous namespace)::ProxyExec0::ProxyExec0()47
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>)47
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)189
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()196
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)2414
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)38164
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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:16819486.6 %
Date:2023-12-06 10:06:33Functions:91181.8 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()8
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>)47
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)2414
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)189
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)38164
mrs_uav_controllers::failsafe_controller::FailsafeController::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)9
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&)9
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()196
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..482a0a3bc5 --- /dev/null +++ b/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/failsafe_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.html b/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.html new file mode 100644 index 0000000000..e6ab946a78 --- /dev/null +++ b/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.html @@ -0,0 +1,635 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/failsafe_controller.cpp + + + + + + + + + + + + + + +
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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:16819486.6 %
Date:2023-12-06 10:06:33Functions: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          47 : 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          47 :   nh_ = nh;
+     117             : 
+     118          47 :   common_handlers_  = common_handlers;
+     119          47 :   private_handlers_ = private_handlers;
+     120             : 
+     121          47 :   _uav_mass_ = common_handlers->getMass();
+     122             : 
+     123          47 :   ros::Time::waitForValid();
+     124             : 
+     125             :   // | ---------- loading params using the parent's nh ---------- |
+     126             : 
+     127          94 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     128             : 
+     129          47 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     130             : 
+     131          47 :   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          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/failsafe_controller.yaml");
+     139          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/failsafe_controller.yaml");
+     140             : 
+     141          94 :   const std::string yaml_namespace = "mrs_uav_controllers/failsafe_controller/";
+     142             : 
+     143          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/throttle_decrease_rate", _throttle_decrease_rate_);
+     144          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/initial_throttle_percentage", _initial_throttle_percentage_);
+     145             : 
+     146          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "attitude_controller/gains/kp", _kq_);
+     147             : 
+     148          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "rate_controller/gains/kp", _kw_);
+     149             : 
+     150          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "velocity_output/descend_speed", _descend_speed_);
+     151          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "acceleration_output/descend_acceleration", _descend_acceleration_);
+     152             : 
+     153          47 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     154           0 :     ROS_ERROR("[FailsafeController]: Could not load all parameters!");
+     155           0 :     return false;
+     156             :   }
+     157             : 
+     158          47 :   _descend_speed_        = std::abs(_descend_speed_);
+     159          47 :   _descend_acceleration_ = std::abs(_descend_acceleration_);
+     160             : 
+     161          47 :   uav_mass_difference_ = 0;
+     162             : 
+     163             :   // | ----------------------- subscribers ---------------------- |
+     164             : 
+     165          47 :   mrs_lib::SubscribeHandlerOptions shopts;
+     166          47 :   shopts.nh                 = nh_;
+     167          47 :   shopts.node_name          = "FailsafeController";
+     168          47 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     169          47 :   shopts.threadsafe         = true;
+     170          47 :   shopts.autostart          = true;
+     171          47 :   shopts.queue_size         = 10;
+     172          47 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     173             : 
+     174          47 :   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          47 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     179             : 
+     180             :   // | ------------------------ profiler ------------------------ |
+     181             : 
+     182          47 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "FailsafeController", _profiler_enabled_);
+     183             : 
+     184             :   // | ----------------------- finish init ---------------------- |
+     185             : 
+     186          47 :   ROS_INFO("[FailsafeController]: initialized");
+     187             : 
+     188          47 :   is_initialized_ = true;
+     189             : 
+     190          47 :   return true;
+     191             : }
+     192             : 
+     193             : //}
+     194             : 
+     195             : /* activate() //{ */
+     196             : 
+     197           9 : bool FailsafeController::activate(const ControlOutput &last_control_output) {
+     198             : 
+     199          18 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     200             : 
+     201           9 :   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           9 :     if (sh_hw_api_orientation_.getMsg()) {
+     212             : 
+     213          18 :       auto hw_api_orientation = sh_hw_api_orientation_.getMsg();
+     214             : 
+     215           9 :       heading_setpoint_ = getHeadingSafely(hw_api_orientation->quaternion);
+     216             : 
+     217           9 :       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           9 :     activation_control_output_ = last_control_output;
+     227             : 
+     228           9 :     if (last_control_output.diagnostics.mass_estimator) {
+     229           5 :       uav_mass_difference_ = last_control_output.diagnostics.mass_difference;
+     230             :     } else {
+     231           4 :       uav_mass_difference_ = 0;
+     232             :     }
+     233             : 
+     234           9 :     activation_control_output_.diagnostics.controller_enforcing_constraints = false;
+     235             : 
+     236           9 :     hover_throttle_ = _initial_throttle_percentage_ * mrs_lib::quadratic_throttle_model::forceToThrottle(
+     237           9 :                                                           common_handlers_->throttle_model, (_uav_mass_ + uav_mass_difference_) * common_handlers_->g);
+     238             : 
+     239           9 :     ROS_INFO("[FailsafeController]: activated with uav_mass_difference %.2f kg.", uav_mass_difference_);
+     240             :   }
+     241             : 
+     242           9 :   first_iteration_ = true;
+     243             : 
+     244           9 :   is_active_ = true;
+     245             : 
+     246           9 :   return true;
+     247             : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* deactivate() //{ */
+     252             : 
+     253           8 : void FailsafeController::deactivate(void) {
+     254             : 
+     255           8 :   is_active_           = false;
+     256           8 :   first_iteration_     = false;
+     257           8 :   uav_mass_difference_ = 0;
+     258             : 
+     259           8 :   ROS_INFO("[FailsafeController]: deactivated");
+     260           8 : }
+     261             : 
+     262             : //}
+     263             : 
+     264             : /* updateInactive() //{ */
+     265             : 
+     266       38164 : void FailsafeController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     267             : 
+     268       38164 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     269             : 
+     270       38164 :   last_update_time_ = ros::Time::now();
+     271             : 
+     272       38164 :   first_iteration_ = false;
+     273       38164 : }
+     274             : 
+     275             : //}
+     276             : 
+     277             : /* //{ updateWhenAcctive() */
+     278             : 
+     279        2414 : FailsafeController::ControlOutput FailsafeController::updateActive(const mrs_msgs::UavState &                       uav_state,
+     280             :                                                                    [[maybe_unused]] const mrs_msgs::TrackerCommand &tracker_command) {
+     281             : 
+     282        7242 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     283        7242 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("FailsafeController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     284             : 
+     285             :   {
+     286        4828 :     std::scoped_lock lock(mutex_uav_state_);
+     287             : 
+     288        2414 :     uav_state_ = uav_state;
+     289             :   }
+     290             : 
+     291        2414 :   if (!is_active_) {
+     292           0 :     return ControlOutput();
+     293             :   }
+     294             : 
+     295        2414 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     296             : 
+     297             :   // | -------------------- calculate the dt -------------------- |
+     298             : 
+     299             :   double dt;
+     300             : 
+     301        2414 :   if (first_iteration_) {
+     302           9 :     dt               = 0.01;
+     303           9 :     first_iteration_ = false;
+     304             :   } else {
+     305        2405 :     dt = (ros::Time::now() - last_update_time_).toSec();
+     306             :   }
+     307             : 
+     308        2414 :   last_update_time_ = ros::Time::now();
+     309             : 
+     310        2414 :   hover_throttle_ -= _throttle_decrease_rate_ * dt;
+     311             : 
+     312        2414 :   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        2414 :   } else if (hover_throttle_ > 1.0) {
+     316           0 :     hover_throttle_ = 1.0;
+     317        2414 :   } else if (hover_throttle_ < 0.0) {
+     318           0 :     hover_throttle_ = 0.0;
+     319             :   }
+     320             : 
+     321             :   // | --------------- prepare the control output --------------- |
+     322             : 
+     323        4828 :   FailsafeController::ControlOutput control_output;
+     324             : 
+     325        2414 :   control_output.diagnostics.controller = "FailsafeController";
+     326             : 
+     327        2414 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     328             : 
+     329        2414 :   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        2414 :   control_output.diagnostics.controller = "FailsafeController";
+     335             : 
+     336             :   // --------------------------------------------------------------
+     337             :   // |                       position output                      |
+     338             :   // --------------------------------------------------------------
+     339             : 
+     340        2414 :   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        2414 :   if (highest_modality.value() == common::VELOCITY_HDG) {
+     350             : 
+     351         246 :     mrs_msgs::HwApiVelocityHdgCmd vel_cmd;
+     352             : 
+     353         123 :     vel_cmd.header.stamp = ros::Time::now();
+     354             : 
+     355         123 :     vel_cmd.velocity.x = 0;
+     356         123 :     vel_cmd.velocity.y = 0;
+     357         123 :     vel_cmd.velocity.z = -_descend_speed_;
+     358         123 :     vel_cmd.heading    = heading_setpoint_;
+     359             : 
+     360         123 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning velocity+hdg output");
+     361         123 :     control_output.control_output = vel_cmd;
+     362         123 :     return control_output;
+     363             :   }
+     364             : 
+     365        2291 :   if (highest_modality.value() == common::VELOCITY_HDG_RATE) {
+     366             : 
+     367         254 :     mrs_msgs::HwApiVelocityHdgRateCmd vel_cmd;
+     368             : 
+     369         127 :     vel_cmd.header.stamp = ros::Time::now();
+     370             : 
+     371         127 :     vel_cmd.velocity.x   = 0;
+     372         127 :     vel_cmd.velocity.y   = 0;
+     373         127 :     vel_cmd.velocity.z   = -_descend_speed_;
+     374         127 :     vel_cmd.heading_rate = 0.0;
+     375             : 
+     376         127 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning velocity+hdg rate output");
+     377         127 :     control_output.control_output = vel_cmd;
+     378         127 :     return control_output;
+     379             :   }
+     380             : 
+     381             :   // --------------------------------------------------------------
+     382             :   // |                     acceleration output                    |
+     383             :   // --------------------------------------------------------------
+     384             : 
+     385        2164 :   if (highest_modality.value() == common::ACCELERATION_HDG) {
+     386             : 
+     387         260 :     mrs_msgs::HwApiAccelerationHdgCmd acc_cmd;
+     388             : 
+     389         130 :     acc_cmd.header.stamp = ros::Time::now();
+     390             : 
+     391         130 :     acc_cmd.acceleration.x = 0;
+     392         130 :     acc_cmd.acceleration.y = 0;
+     393         130 :     acc_cmd.acceleration.z = -_descend_acceleration_;
+     394         130 :     acc_cmd.heading        = heading_setpoint_;
+     395             : 
+     396         130 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning acceleration+hdg output");
+     397         130 :     control_output.control_output = acc_cmd;
+     398         130 :     return control_output;
+     399             :   }
+     400             : 
+     401        2034 :   if (highest_modality.value() == common::ACCELERATION_HDG_RATE) {
+     402             : 
+     403         240 :     mrs_msgs::HwApiAccelerationHdgRateCmd acc_cmd;
+     404             : 
+     405         120 :     acc_cmd.header.stamp = ros::Time::now();
+     406             : 
+     407         120 :     acc_cmd.acceleration.x = 0;
+     408         120 :     acc_cmd.acceleration.y = 0;
+     409         120 :     acc_cmd.acceleration.z = -_descend_acceleration_;
+     410         120 :     acc_cmd.heading_rate   = 0.0;
+     411             : 
+     412         120 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning acceleration+hdg rate output");
+     413         120 :     control_output.control_output = acc_cmd;
+     414         120 :     return control_output;
+     415             :   }
+     416             : 
+     417             :   // --------------------------------------------------------------
+     418             :   // |                       attitude output                      |
+     419             :   // --------------------------------------------------------------
+     420             : 
+     421        1914 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+     422             : 
+     423        1914 :   attitude_cmd.stamp       = ros::Time::now();
+     424        1914 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(0, 0, heading_setpoint_);
+     425        1914 :   attitude_cmd.throttle    = hover_throttle_;
+     426             : 
+     427        1914 :   if (highest_modality.value() == common::ATTITUDE) {
+     428        1527 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude output");
+     429        1527 :     control_output.control_output = attitude_cmd;
+     430        1527 :     return control_output;
+     431             :   }
+     432             : 
+     433             :   // --------------------------------------------------------------
+     434             :   // |                      attitude control                      |
+     435             :   // --------------------------------------------------------------
+     436             : 
+     437         387 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+     438         387 :   Eigen::Vector3d rate_ff(0, 0, 0);
+     439         387 :   Eigen::Vector3d Kq(_kq_, _kq_, _kq_);
+     440             : 
+     441         387 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, rate_ff, attitude_rate_saturation, Kq, false);
+     442             : 
+     443         387 :   if (highest_modality.value() == common::ATTITUDE_RATE) {
+     444         127 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude rate output");
+     445         127 :     control_output.control_output = attitude_rate_command;
+     446         127 :     return control_output;
+     447             :   }
+     448             : 
+     449             :   // --------------------------------------------------------------
+     450             :   // |                    attitude rate control                   |
+     451             :   // --------------------------------------------------------------
+     452             : 
+     453         260 :   Eigen::Vector3d Kw = common_handlers_->detailed_model_params->inertia.diagonal() * _kw_;
+     454             : 
+     455         260 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+     456             : 
+     457         260 :   if (highest_modality.value() == common::CONTROL_GROUP) {
+     458         132 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning control group output");
+     459         132 :     control_output.control_output = control_group_command;
+     460         132 :     return control_output;
+     461             :   }
+     462             : 
+     463             :   // --------------------------------------------------------------
+     464             :   // |                            mixer                           |
+     465             :   // --------------------------------------------------------------
+     466             : 
+     467         256 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+     468             : 
+     469         128 :   ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning actuators output");
+     470         128 :   control_output.control_output = actuator_cmd;
+     471         128 :   return control_output;
+     472             : }
+     473             : 
+     474             : //}
+     475             : 
+     476             : /* getStatus() //{ */
+     477             : 
+     478         196 : const mrs_msgs::ControllerStatus FailsafeController::getStatus() {
+     479             : 
+     480         196 :   mrs_msgs::ControllerStatus controller_status;
+     481             : 
+     482         196 :   controller_status.active = is_active_;
+     483             : 
+     484         196 :   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         189 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr FailsafeController::setConstraints([
+     506             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     507             : 
+     508         189 :   if (!is_initialized_) {
+     509           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     510             :   }
+     511             : 
+     512         189 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     513             : 
+     514         189 :   ROS_INFO("[FailsafeController]: updating constraints");
+     515             : 
+     516         378 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     517         189 :   res.success = true;
+     518         189 :   res.message = "constraints updated";
+     519             : 
+     520         189 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     521             : }
+     522             : 
+     523             : //}
+     524             : 
+     525             : /* getHeadingSafely() //{ */
+     526             : 
+     527           9 : double FailsafeController::getHeadingSafely(const geometry_msgs::Quaternion &quaternion) {
+     528             : 
+     529             :   try {
+     530           9 :     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          47 : 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..3d1b7ca09b59081656b25ac82df527ff450c91ec GIT binary patch literal 1801 zcmV+k2ln`hP)x8U z93=oPBM}_M2|gcN5NRz_!F~8fxSebaT2eHN-k7D*6QvgV%y4^YjM3sRaZ z*lnhOaAk?iWU4o2VfM@mCQnb0ny*|MJ`BC}E}n&ztA8q_<|(U~47N&)p(~6<9KX}d zcO=*hQ80W*MFT~BW-+2v$AR^kZPQ!YO#B@_oYt&m-?M`3wr<93CdW-%q3fEUS7J5c z87*jnU{Mii*BTph03taKA)=2IK8aC&;hbH*D<&k+F{crDzjf3pPV|%nv8|NKBURMpCG=ZSN*LM2(NvO-78o-_e zT_8BV>n9-I&~+_9oRCrQ3A50f=ZHj@vnCyN(QK|k!3GyKIqU&RyI}DQE`hsM4d4{>kOl%1Oc15qgG7$7P6`%2~Z2Bm1|4>~`0_ zaO9DAAz3yV$BdB~{Ddq`egpW?xn8F!vj{O;*mwV6|L^B&{_`{OR%=lPz(t(qrlU}@ zg$OWv9-%U_JdhS#Q*eyL*Xs%>na96I#2Q@qq!AJF+Lb6iyf^k8L1-TC>{l^&wX8l9 z*tg}pgy8{k-+xF!UXm-K8Ddzn|3;qSy0E$jFa`^vEVoLZ>CB!=+|Rq_<;@2oZ!oQP ztc_o?m8zvu$!i*sEm-V2bm<aE^ z@FOv=eSd7hVf$-#!pj8kdbmt2UG(+^^jtP=T~IdyJ2B>gSbfK!gkN5 z!&EYSN5NNDsIb9^-dGq4J45hR;{_J+x5!b0O(8Xy4}08GI-8nSX55>YiM`!aXb4)F z5O-#z!&e1^=5>Bb-c`manl)Bu$bF_Sx+Htt_gTPs`jABTmGilIUT5h{xSr8Yiadms&Q#>}$BkMEx7PDQDiB~k?%?^`zdZT5vp0x^+I-gOAi@W#Jz-T(F0GUKkOFu}A-P_E-jC8hm$k zEft;H>fz=5=zPcu=e6}HTm-uE;G-@AsWC_UM@yHYbiOuhD$000yEp`>tF9E^4y$Me z1Rq2SJB5eb1wy6&yuJPB6SKB2xb}VfACnKT5M`bnnB-aJ8F-DXe(ngv3#j)HUoo;9 zL(FRu==iGSM)&(WCy+_lm8aL4$pT{IVN+Sh^6Gm1=SoO0C|41b=t$(Oflv>N;iINu z%{nG|Avx$~-k4Zv*MKv2Zr1#=htHRD@s`tO=BUY#0#^mLj=wnSb1V#0{t_p!H(!?5 rX60`6HE(q8N3>}@ZbiX*#KY|$N^cNZ$C;UB00000NkvXXu0mjf=9Fxk 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..793bec9a77 --- /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:1769217281.4 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
86.6%86.6%
+ 		86.6 %168 / 19481.8 %9 / 11
<unnamed>86.6 %168 / 19481.8 %9 / 11
midair_activation_controller.cpp +
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+ 		88.7 %134 / 15181.8 %9 / 11
<unnamed>88.7 %134 / 15181.8 %9 / 11
mpc_controller.cpp +
80.8%80.8%
+ 		80.8 %722 / 89483.3 %15 / 18
<unnamed>80.8 %722 / 89483.3 %15 / 18
se3_controller.cpp +
78.9%78.9%
+ 		78.9 %611 / 77488.2 %15 / 17
<unnamed>78.9 %611 / 77488.2 %15 / 17
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
<unnamed>84.3 %134 / 159100.0 %9 / 9
+
+
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se3_controller.cpp +
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<unnamed>78.9 %611 / 77488.2 %15 / 17
mpc_controller.cpp +
80.8%80.8%
+ 		80.8 %722 / 89483.3 %15 / 18
<unnamed>80.8 %722 / 89483.3 %15 / 18
common.cpp +
84.3%84.3%
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<unnamed>84.3 %134 / 159100.0 %9 / 9
failsafe_controller.cpp +
86.6%86.6%
+ 		86.6 %168 / 19481.8 %9 / 11
<unnamed>86.6 %168 / 19481.8 %9 / 11
midair_activation_controller.cpp +
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<unnamed>88.7 %134 / 15181.8 %9 / 11
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Test:MRS UAV System - Test coverage reportLines:1769217281.4 %
Date:2023-12-06 10:06:33Functions:576686.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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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 +
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+ 		86.6 %168 / 19481.8 %9 / 11
<unnamed>86.6 %168 / 19481.8 %9 / 11
midair_activation_controller.cpp +
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+ 		88.7 %134 / 15181.8 %9 / 11
<unnamed>88.7 %134 / 15181.8 %9 / 11
mpc_controller.cpp +
80.8%80.8%
+ 		80.8 %722 / 89483.3 %15 / 18
<unnamed>80.8 %722 / 89483.3 %15 / 18
se3_controller.cpp +
78.9%78.9%
+ 		78.9 %611 / 77488.2 %15 / 17
<unnamed>78.9 %611 / 77488.2 %15 / 17
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1769217281.4 %
Date:2023-12-06 10:06:33Functions:576686.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
86.6%86.6%
+ 		86.6 %168 / 19481.8 %9 / 11
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
mpc_controller.cpp +
80.8%80.8%
+ 		80.8 %722 / 89483.3 %15 / 18
se3_controller.cpp +
78.9%78.9%
+ 		78.9 %611 / 77488.2 %15 / 17
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/index-sort-l.html b/mrs_uav_controllers/src/index-sort-l.html new file mode 100644 index 0000000000..dc9e36717e --- /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:1769217281.4 %
Date:2023-12-06 10:06:33Functions:576686.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
se3_controller.cpp +
78.9%78.9%
+ 		78.9 %611 / 77488.2 %15 / 17
mpc_controller.cpp +
80.8%80.8%
+ 		80.8 %722 / 89483.3 %15 / 18
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
failsafe_controller.cpp +
86.6%86.6%
+ 		86.6 %168 / 19481.8 %9 / 11
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
+
+
+ + + + +
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..33af399386 --- /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:1769217281.4 %
Date:2023-12-06 10:06:33Functions:576686.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
failsafe_controller.cpp +
86.6%86.6%
+ 		86.6 %168 / 19481.8 %9 / 11
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
mpc_controller.cpp +
80.8%80.8%
+ 		80.8 %722 / 89483.3 %15 / 18
se3_controller.cpp +
78.9%78.9%
+ 		78.9 %611 / 77488.2 %15 / 17
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.func-sort-c.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.func-sort-c.html new file mode 100644 index 0000000000..a53c798041 --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.func-sort-c.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415188.7 %
Date:2023-12-06 10:06:33Functions:91181.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::midair_activation_controller::MidairActivationController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::resetDisturbanceEstimators()0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)13
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_controllers::midair_activation_controller::MidairActivationController::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)47
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()48
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()58
mrs_uav_controllers::midair_activation_controller::MidairActivationController::activate(mrs_uav_managers::Controller::ControlOutput const&)84
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)189
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)250
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)40328
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.func.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.func.html new file mode 100644 index 0000000000..e883f7a5fe --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.func.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415188.7 %
Date:2023-12-06 10:06:33Functions: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()47
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()48
mrs_uav_controllers::midair_activation_controller::MidairActivationController::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)47
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)250
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)189
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)40328
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)13
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&)84
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()58
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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..0d08bb6388 --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.html @@ -0,0 +1,518 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415188.7 %
Date:2023-12-06 10:06:33Functions: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/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          47 : 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          47 :   nh_ = nh;
+      90             : 
+      91          47 :   common_handlers_  = common_handlers;
+      92          47 :   private_handlers_ = private_handlers;
+      93             : 
+      94          47 :   _uav_mass_ = common_handlers->getMass();
+      95             : 
+      96          47 :   ros::Time::waitForValid();
+      97             : 
+      98             :   // | ---------- loading params using the parent's nh ---------- |
+      99             : 
+     100          94 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     101             : 
+     102          47 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     103             : 
+     104          47 :   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          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/midair_activation_controller.yaml");
+     112          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/midair_activation_controller.yaml");
+     113             : 
+     114          47 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     115           0 :     ROS_ERROR("[MidairActivationController]: Could not load all parameters!");
+     116           0 :     return false;
+     117             :   }
+     118             : 
+     119          47 :   uav_mass_difference_ = 0;
+     120             : 
+     121             :   // | ------------------------ profiler ------------------------ |
+     122             : 
+     123          47 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationController", _profiler_enabled_);
+     124             : 
+     125             :   // | ----------------------- finish init ---------------------- |
+     126             : 
+     127          47 :   ROS_INFO("[MidairActivationController]: initialized");
+     128             : 
+     129          47 :   is_initialized_ = true;
+     130             : 
+     131          47 :   return true;
+     132             : }
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* activate() //{ */
+     137             : 
+     138          84 : bool MidairActivationController::activate([[maybe_unused]] const ControlOutput &last_control_output) {
+     139             : 
+     140          84 :   ROS_INFO("[MidairActivationController]: activating");
+     141             : 
+     142          84 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     143             : 
+     144          84 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     145             : 
+     146          84 :   is_active_ = true;
+     147             : 
+     148          84 :   ROS_INFO("[MidairActivationController]: activated, hover throttle %.2f", hover_throttle_);
+     149             : 
+     150         168 :   return true;
+     151             : }
+     152             : 
+     153             : //}
+     154             : 
+     155             : /* deactivate() //{ */
+     156             : 
+     157          48 : void MidairActivationController::deactivate(void) {
+     158             : 
+     159          48 :   is_active_           = false;
+     160          48 :   uav_mass_difference_ = 0;
+     161             : 
+     162          48 :   ROS_INFO("[MidairActivationController]: deactivated");
+     163          48 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* updateInactive() //{ */
+     168             : 
+     169       40328 : void MidairActivationController::updateInactive(const mrs_msgs::UavState &                                      uav_state,
+     170             :                                                 [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     171             : 
+     172       40328 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     173       40328 : }
+     174             : 
+     175             : //}
+     176             : 
+     177             : /* //{ updateWhenAcctive() */
+     178             : 
+     179         250 : MidairActivationController::ControlOutput MidairActivationController::updateActive(const mrs_msgs::UavState &      uav_state,
+     180             :                                                                                    const mrs_msgs::TrackerCommand &tracker_command) {
+     181             : 
+     182         750 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     183             :   mrs_lib::ScopeTimer timer =
+     184         750 :       mrs_lib::ScopeTimer("MidairActivationController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     185             : 
+     186         250 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     187             : 
+     188         250 :   if (!is_active_) {
+     189           0 :     return Controller::ControlOutput();
+     190             :   }
+     191             : 
+     192             :   // | --------------- prepare the control output --------------- |
+     193             : 
+     194         500 :   ControlOutput control_output;
+     195             : 
+     196         250 :   control_output.diagnostics.controller = "MidairActivationController";
+     197             : 
+     198         250 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     199             : 
+     200         250 :   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         250 :   switch (highest_modality.value()) {
+     208             : 
+     209           2 :     case common::POSITION: {
+     210             : 
+     211           4 :       mrs_msgs::HwApiPositionCmd cmd;
+     212             : 
+     213           2 :       cmd.header.stamp    = ros::Time::now();
+     214           2 :       cmd.header.frame_id = uav_state.header.frame_id;
+     215             : 
+     216           2 :       cmd.position.x = uav_state.pose.position.x;
+     217           2 :       cmd.position.y = uav_state.pose.position.y;
+     218           2 :       cmd.position.z = uav_state.pose.position.z;
+     219             : 
+     220           2 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     221             : 
+     222           2 :       control_output.control_output = cmd;
+     223             : 
+     224           2 :       break;
+     225             :     }
+     226             : 
+     227           3 :     case common::VELOCITY_HDG: {
+     228             : 
+     229           6 :       mrs_msgs::HwApiVelocityHdgCmd cmd;
+     230             : 
+     231           3 :       cmd.header.stamp    = ros::Time::now();
+     232           3 :       cmd.header.frame_id = uav_state.header.frame_id;
+     233             : 
+     234           3 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     235           3 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     236           3 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     237             : 
+     238           3 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     239             : 
+     240           3 :       control_output.control_output = cmd;
+     241             : 
+     242           3 :       break;
+     243             :     }
+     244             : 
+     245           3 :     case common::VELOCITY_HDG_RATE: {
+     246             : 
+     247           6 :       mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+     248             : 
+     249           3 :       cmd.header.stamp    = ros::Time::now();
+     250           3 :       cmd.header.frame_id = uav_state.header.frame_id;
+     251             : 
+     252           3 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     253           3 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     254           3 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     255             : 
+     256           3 :       cmd.heading_rate = 0;
+     257             : 
+     258           3 :       control_output.control_output = cmd;
+     259             : 
+     260           3 :       break;
+     261             :     }
+     262             : 
+     263           8 :     case common::ACCELERATION_HDG: {
+     264             : 
+     265          16 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+     266             : 
+     267           8 :       cmd.header.stamp    = ros::Time::now();
+     268           8 :       cmd.header.frame_id = uav_state.header.frame_id;
+     269             : 
+     270           8 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     271           8 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     272           8 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     273             : 
+     274           8 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     275             : 
+     276           8 :       control_output.control_output = cmd;
+     277             : 
+     278           8 :       break;
+     279             :     }
+     280             : 
+     281           9 :     case common::ACCELERATION_HDG_RATE: {
+     282             : 
+     283          18 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+     284             : 
+     285           9 :       cmd.header.stamp    = ros::Time::now();
+     286           9 :       cmd.header.frame_id = uav_state.header.frame_id;
+     287             : 
+     288           9 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     289           9 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     290           9 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     291             : 
+     292           9 :       cmd.heading_rate = 0;
+     293             : 
+     294           9 :       control_output.control_output = cmd;
+     295             : 
+     296           9 :       break;
+     297             :     }
+     298             : 
+     299         120 :     case common::ATTITUDE: {
+     300             : 
+     301         120 :       mrs_msgs::HwApiAttitudeCmd cmd;
+     302             : 
+     303         120 :       cmd.stamp = ros::Time::now();
+     304             : 
+     305         120 :       cmd.orientation = uav_state.pose.orientation;
+     306         120 :       cmd.throttle    = hover_throttle_;
+     307             : 
+     308         120 :       control_output.control_output = cmd;
+     309             : 
+     310         120 :       break;
+     311             :     }
+     312             : 
+     313          20 :     case common::ATTITUDE_RATE: {
+     314             : 
+     315          20 :       mrs_msgs::HwApiAttitudeRateCmd cmd;
+     316             : 
+     317          20 :       cmd.stamp = ros::Time::now();
+     318             : 
+     319          20 :       cmd.body_rate.x = 0;
+     320          20 :       cmd.body_rate.y = 0;
+     321          20 :       cmd.body_rate.z = 0;
+     322             : 
+     323          20 :       cmd.throttle = hover_throttle_;
+     324             : 
+     325          20 :       control_output.control_output = cmd;
+     326             : 
+     327          20 :       break;
+     328             :     }
+     329             : 
+     330          42 :     case common::CONTROL_GROUP: {
+     331             : 
+     332          42 :       mrs_msgs::HwApiControlGroupCmd cmd;
+     333             : 
+     334          42 :       cmd.stamp = ros::Time::now();
+     335             : 
+     336          42 :       cmd.roll     = 0;
+     337          42 :       cmd.pitch    = 0;
+     338          42 :       cmd.yaw      = 0;
+     339          42 :       cmd.throttle = hover_throttle_;
+     340             : 
+     341          42 :       control_output.control_output = cmd;
+     342             : 
+     343          42 :       break;
+     344             :     }
+     345             : 
+     346          43 :     case common::ACTUATORS_CMD: {
+     347             : 
+     348          86 :       mrs_msgs::HwApiActuatorCmd cmd;
+     349             : 
+     350          43 :       cmd.stamp = ros::Time::now();
+     351             : 
+     352         215 :       for (int i = 0; i < common_handlers_->throttle_model.n_motors; i++) {
+     353         172 :         cmd.motors.push_back(hover_throttle_);
+     354             :       }
+     355             : 
+     356          43 :       control_output.control_output = cmd;
+     357             : 
+     358          43 :       break;
+     359             :     }
+     360             :   }
+     361             : 
+     362         250 :   return control_output;
+     363             : }  // namespace midair_activation_controller
+     364             : 
+     365             : //}
+     366             : 
+     367             : /* getStatus() //{ */
+     368             : 
+     369          58 : const mrs_msgs::ControllerStatus MidairActivationController::getStatus() {
+     370             : 
+     371          58 :   mrs_msgs::ControllerStatus controller_status;
+     372             : 
+     373          58 :   controller_status.active = is_active_;
+     374             : 
+     375          58 :   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         189 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationController::setConstraints([
+     397             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     398             : 
+     399         189 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     400             : }
+     401             : 
+     402             : //}
+     403             : 
+     404             : /* getHeadingSafely() //{ */
+     405             : 
+     406          13 : double MidairActivationController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     407             : 
+     408             :   try {
+     409          13 :     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          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::midair_activation_controller::MidairActivationController, mrs_uav_managers::Controller)
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+ + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.png b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..49f6832acd8e49470672760900f2d06888ca2a29 GIT binary patch literal 1228 zcmV;-1T*`IP);0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vph4Hy$oLH;~?T|h?sE{F^y{nigeQwS&~b%McnB~@KD?`FrCR}1JerB z`tpc`p(qsvr?`mJYP(o^_aBZTKe^FMlq%#+_n`w!7&I8E78#6xR}J&Gq9x*3_Evvh zun+-#4j^u*0U{tcbe0W{aO#482VxHqa#70hs!`{o8eJivg0;&vg{FoIyt2JS^u7Yu1_<`hK&0f<5qD6I7WmN)ga?n_bI z7hQQSj-4jKD1hkk*v>Sa+|u7#mR}ae%ZEUEr)b}!T-?r|o{h-$QE)Rg&(n;FcK>&U zZbT)1Bi-~kYdvcm*O!E8Owl+oYI~Je)K(F7gll>VlPQ3hjf0738i48X`}jOI=c=v& zcs}AZ%Cn~!HNP zS4x-_hT_%A!1~;xGX7AQGF^>7T;=BL-AC8*Lh)`_`>5bPT!xRvwYoeS#4YgLbi+fO zay{875@xqUku0s&J(8c#rYD0VZ|AGiwOQdLg$@-Nh|@7vlgNBTOS7ERtSL&0Tp#0T z&$8&_@=p(iA6Z_5bZ|?!UvJDvrnSL@L~hOGT9ZvT-0q20JKgqNN0@R^TP3q)p{qJzPu~_kVzAwNe?obgTdz+? zqr|d=G|MVB*%t-_J~6f#3HNH4%Qy!yB-)hVZWZD#s56Rkqx14t;qB7>ESenC%X70hNB#R7%t54`RU+eO899}jWkU~WO&?XhAuq1H4}QIioLKK>RT zzjYekPM@yiNj#~T_EhYM$g3zKsWhC*+<<1{4`}^I8d=kN+6xD&hxtgAX6FEu%#-F# zV8Ga^fb2PdxYjscM1V@fv+LrD9K^I|p5l!T0tucEfls+p=UF@A1IUH`@U!_>B?K~5 zO3(XD%e~Sgc(f?}tln=go!cs8-lDlji!#SK-Eot9jccjW + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_controllers/src - mpc_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:72289480.8 %
Date:2023-12-06 10:06:33Functions:151883.3 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::mpc_controller::MpcController::callbackSetIntegralTerms(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_controllers::mpc_controller::MpcController::resetDisturbanceEstimators()0
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_controllers::mpc_controller::MpcController::deactivate()78
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)92
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>)94
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)94
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)182
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)378
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&)404
mrs_uav_controllers::mpc_controller::MpcController::getStatus()3818
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)4883
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&)20696
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)21100
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)21282
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)39064
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)59874
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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..12724205cd --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - mpc_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:72289480.8 %
Date:2023-12-06 10:06:33Functions:151883.3 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_controllers::mpc_controller::MpcController::deactivate()78
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>)94
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)4883
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)94
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)21282
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)378
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)59874
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)21100
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&)404
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)39064
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)182
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::mpc_controller::MpcController::callbackSetIntegralTerms(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_controllers::mpc_controller::MpcController::resetDisturbanceEstimators()0
mrs_uav_controllers::mpc_controller::MpcController::MPC(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, mrs_uav_controllers::common::CONTROL_OUTPUT const&)20696
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)92
mrs_uav_controllers::mpc_controller::MpcController::getStatus()3818
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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..e5456702c7 --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.html @@ -0,0 +1,2214 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_controllers/src - mpc_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:72289480.8 %
Date:2023-12-06 10:06:33Functions:151883.3 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <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          94 : 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          94 :   nh_ = nh;
+     260             : 
+     261          94 :   common_handlers_  = common_handlers;
+     262          94 :   private_handlers_ = private_handlers;
+     263             : 
+     264          94 :   _uav_mass_ = common_handlers_->getMass();
+     265          94 :   name_      = private_handlers_->runtime_name;
+     266             : 
+     267          94 :   ros::Time::waitForValid();
+     268             : 
+     269             :   // | ---------- loading params using the parent's nh ---------- |
+     270             : 
+     271         188 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     272             : 
+     273          94 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     274             : 
+     275          94 :   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          94 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/mpc_controller.yaml");
+     283          94 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/mpc_controller.yaml");
+     284          94 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/" + private_handlers->name_space + ".yaml");
+     285          94 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/" + private_handlers->name_space + ".yaml");
+     286             : 
+     287         188 :   const std::string yaml_namespace = "mrs_uav_controllers/" + private_handlers_->name_space + "/";
+     288             : 
+     289             :   // load the dynamicall model parameters
+     290          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/number_of_states", _n_states_);
+     291          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt1", _dt1_);
+     292          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt2", _dt2_);
+     293             : 
+     294          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizon_length", _horizon_length_);
+     295             : 
+     296          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_speed", _max_speed_horizontal_);
+     297          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_acceleration", _max_acceleration_horizontal_);
+     298          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_jerk", _max_jerk_);
+     299             : 
+     300          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/Q", _mat_Q_);
+     301          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/S", _mat_S_);
+     302             : 
+     303          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_speed", _max_speed_vertical_);
+     304          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_acceleration", _max_acceleration_vertical_);
+     305          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_u", _max_u_vertical_);
+     306             : 
+     307          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/Q", _mat_Q_z_);
+     308          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/S", _mat_S_z_);
+     309             : 
+     310          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/verbose", _mpc_solver_verbose_);
+     311          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/max_iterations", _mpc_solver_max_iterations_);
+     312             : 
+     313             :   // | ------------------------- rampup ------------------------- |
+     314             : 
+     315          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/enabled", _rampup_enabled_);
+     316          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/speed", _rampup_speed_);
+     317             : 
+     318             :   // | --------------------- integral gains --------------------- |
+     319             : 
+     320          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw", gains_.kiwxy);
+     321          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kib", gains_.kibxy);
+     322             : 
+     323             :   // integrator limits
+     324          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw_lim", gains_.kiwxy_lim);
+     325          94 :   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          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/roll_pitch", gains_.kq_roll_pitch);
+     331          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/yaw", gains_.kq_yaw);
+     332             : 
+     333             :   // attitude rate gains
+     334          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/roll_pitch", gains_.kw_rp);
+     335          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/yaw", gains_.kw_y);
+     336             : 
+     337             :   // mass estimator
+     338          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km", gains_.km);
+     339          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km_lim", gains_.km_lim);
+     340             : 
+     341             :   // constraints
+     342          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     343          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     344             : 
+     345          94 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     346             : 
+     347          94 :   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          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/throttle_saturation", _throttle_saturation_);
+     353             : 
+     354             :   // gain filtering
+     355          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     356          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     357          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/rate", _gain_filtering_rate_);
+     358          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     359             : 
+     360             :   // angular rate feed forward
+     361          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     362             : 
+     363             :   // output mode
+     364          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/preferred_output", drs_params_.preferred_output_mode);
+     365             : 
+     366             :   // | ------------------- position pid params ------------------ |
+     367             : 
+     368          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     369          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     370          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     371             : 
+     372          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     373          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     374          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     375             : 
+     376          94 :   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          94 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     384          94 :         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          94 :   uav_mass_difference_ = 0;
+     390          94 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     391          94 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     392             : 
+     393             :   // | ----------------- prepare the MPC solver ----------------- |
+     394             : 
+     395          94 :   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          94 :                                                                             _dt2_, 0, 1.0);
+     397          94 :   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          94 :                                                                             _dt2_, 0, 1.0);
+     399          94 :   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          94 :                                                                             _dt1_, _dt2_, 0.5, 0.5);
+     401             : 
+     402             :   // | --------------- dynamic reconfigure server --------------- |
+     403             : 
+     404          94 :   drs_params_.kiwxy         = gains_.kiwxy;
+     405          94 :   drs_params_.kibxy         = gains_.kibxy;
+     406          94 :   drs_params_.kq_roll_pitch = gains_.kq_roll_pitch;
+     407          94 :   drs_params_.kq_yaw        = gains_.kq_yaw;
+     408          94 :   drs_params_.km            = gains_.km;
+     409          94 :   drs_params_.km_lim        = gains_.km_lim;
+     410          94 :   drs_params_.kiwxy_lim     = gains_.kiwxy_lim;
+     411          94 :   drs_params_.kibxy_lim     = gains_.kibxy_lim;
+     412             : 
+     413          94 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     414          94 :   drs_->updateConfig(drs_params_);
+     415          94 :   Drs_t::CallbackType f = boost::bind(&MpcController::callbackDrs, this, _1, _2);
+     416          94 :   drs_->setCallback(f);
+     417             : 
+     418             :   // | --------------------- service servers -------------------- |
+     419             : 
+     420          94 :   service_set_integral_terms_ = nh_.advertiseService("set_integral_terms_in", &MpcController::callbackSetIntegralTerms, this);
+     421             : 
+     422             :   // | ------------------------- timers ------------------------- |
+     423             : 
+     424          94 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &MpcController::timerGains, this, false, false);
+     425             : 
+     426             :   // | ---------------------- position pid ---------------------- |
+     427             : 
+     428          94 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     429          94 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     430          94 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     431          94 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     432             : 
+     433             :   // | ------------------------ profiler ------------------------ |
+     434             : 
+     435          94 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MpcController", _profiler_enabled_);
+     436             : 
+     437             :   // | ----------------------- finish init ---------------------- |
+     438             : 
+     439          94 :   ROS_INFO("[%s]: initialized", this->name_.c_str());
+     440             : 
+     441          94 :   is_initialized_ = true;
+     442             : 
+     443          94 :   return true;
+     444             : }
+     445             : 
+     446             : //}
+     447             : 
+     448             : /* //{ activate() */
+     449             : 
+     450          92 : bool MpcController::activate(const ControlOutput &last_control_output) {
+     451             : 
+     452          92 :   activation_control_output_ = last_control_output;
+     453             : 
+     454          92 :   double activation_mass = _uav_mass_;
+     455             : 
+     456          92 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     457           3 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     458           3 :     activation_mass += uav_mass_difference_;
+     459           3 :     ROS_INFO("[%s]: setting mass difference from the last control output: %.2f kg", this->name_.c_str(), uav_mass_difference_);
+     460             :   }
+     461             : 
+     462          92 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     463             : 
+     464          92 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     465           3 :     Ib_b_[0] = -activation_control_output_.diagnostics.disturbance_bx_b;
+     466           3 :     Ib_b_[1] = -activation_control_output_.diagnostics.disturbance_by_b;
+     467             : 
+     468           3 :     Iw_w_[0] = -activation_control_output_.diagnostics.disturbance_wx_w;
+     469           3 :     Iw_w_[1] = -activation_control_output_.diagnostics.disturbance_wy_w;
+     470             : 
+     471           3 :     ROS_INFO(
+     472             :         "[%s]: setting disturbances from the last control output: Ib_b_: %.2f, %.2f N, Iw_w_: "
+     473             :         "%.2f, %.2f N",
+     474             :         this->name_.c_str(), Ib_b_[0], Ib_b_[1], Iw_w_[0], Iw_w_[1]);
+     475             :   }
+     476             : 
+     477             :   // did the last controller use manual throttle control?
+     478          92 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     479             : 
+     480             :   // rampup check
+     481          92 :   if (_rampup_enabled_ && throttle_last_controller) {
+     482             : 
+     483          29 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     484             : 
+     485          29 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     486             : 
+     487          29 :     if (throttle_difference > 0) {
+     488          12 :       rampup_direction_ = 1;
+     489          17 :     } else if (throttle_difference < 0) {
+     490           1 :       rampup_direction_ = -1;
+     491             :     } else {
+     492          16 :       rampup_direction_ = 0;
+     493             :     }
+     494             : 
+     495          29 :     ROS_INFO("[%s]: activating rampup with initial throttle: %.4f, target: %.4f", name_.c_str(), throttle_last_controller.value(), hover_throttle);
+     496             : 
+     497          29 :     rampup_active_     = true;
+     498          29 :     rampup_start_time_ = ros::Time::now();
+     499          29 :     rampup_last_time_  = ros::Time::now();
+     500          29 :     rampup_throttle_   = throttle_last_controller.value();
+     501             : 
+     502          29 :     rampup_duration_ = fabs(throttle_difference) / _rampup_speed_;
+     503             :   }
+     504             : 
+     505          92 :   first_iteration_ = true;
+     506          92 :   mute_gains_      = true;
+     507             : 
+     508          92 :   timer_gains_.start();
+     509             : 
+     510          92 :   ROS_INFO("[%s]: activated", this->name_.c_str());
+     511             : 
+     512          92 :   is_active_ = true;
+     513             : 
+     514          92 :   return true;
+     515             : }
+     516             : 
+     517             : //}
+     518             : 
+     519             : /* //{ deactivate() */
+     520             : 
+     521          78 : void MpcController::deactivate(void) {
+     522             : 
+     523          78 :   is_active_           = false;
+     524          78 :   first_iteration_     = false;
+     525          78 :   uav_mass_difference_ = 0;
+     526             : 
+     527          78 :   timer_gains_.stop();
+     528             : 
+     529          78 :   ROS_INFO("[%s]: deactivated", this->name_.c_str());
+     530          78 : }
+     531             : 
+     532             : //}
+     533             : 
+     534             : /* updateInactive() //{ */
+     535             : 
+     536       59874 : void MpcController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     537             : 
+     538       59874 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     539             : 
+     540       59874 :   last_update_time_ = uav_state.header.stamp;
+     541             : 
+     542       59874 :   first_iteration_ = false;
+     543       59874 : }
+     544             : 
+     545             : //}
+     546             : 
+     547             : /* //{ updateWhenAcctive() */
+     548             : 
+     549       21282 : MpcController::ControlOutput MpcController::updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     550             : 
+     551       63846 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     552       63846 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     553             : 
+     554       42564 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     555             : 
+     556       21282 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     557             : 
+     558       21282 :   last_control_output_.desired_heading_rate          = {};
+     559       21282 :   last_control_output_.desired_orientation           = {};
+     560       21282 :   last_control_output_.desired_unbiased_acceleration = {};
+     561       21282 :   last_control_output_.control_output                = {};
+     562             : 
+     563       21282 :   if (!is_active_) {
+     564           0 :     return last_control_output_;
+     565             :   }
+     566             : 
+     567             :   // | -------------------- calculate the dt -------------------- |
+     568             : 
+     569             :   double dt;
+     570             : 
+     571       21282 :   if (first_iteration_) {
+     572          37 :     dt               = 0.01;
+     573          37 :     first_iteration_ = false;
+     574             :   } else {
+     575       21245 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     576             :   }
+     577             : 
+     578       21282 :   last_update_time_ = uav_state.header.stamp;
+     579             : 
+     580       21282 :   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       21282 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     590             : 
+     591       21282 :   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       21282 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     601       16423 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing attitude rate output", name_.c_str());
+     602       16423 :     lowest_modality = common::ATTITUDE_RATE;
+     603        4859 :   } 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        4859 :   } 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        4859 :   } 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       21282 :   switch (lowest_modality.value()) {
+     615             : 
+     616         182 :     case common::POSITION: {
+     617         182 :       positionPassthrough(uav_state, tracker_command);
+     618         182 :       break;
+     619             :     }
+     620             : 
+     621         202 :     case common::VELOCITY_HDG: {
+     622         202 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     623         202 :       break;
+     624             :     }
+     625             : 
+     626         202 :     case common::VELOCITY_HDG_RATE: {
+     627         202 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     628         202 :       break;
+     629             :     }
+     630             : 
+     631         403 :     case common::ACCELERATION_HDG: {
+     632         403 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     633         403 :       break;
+     634             :     }
+     635             : 
+     636         401 :     case common::ACCELERATION_HDG_RATE: {
+     637         401 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     638         401 :       break;
+     639             :     }
+     640             : 
+     641         794 :     case common::ATTITUDE: {
+     642         794 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE);
+     643         794 :       break;
+     644             :     }
+     645             : 
+     646       16423 :     case common::ATTITUDE_RATE: {
+     647       16423 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     648       16423 :       break;
+     649             :     }
+     650             : 
+     651        1332 :     case common::CONTROL_GROUP: {
+     652        1332 :       MPC(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     653        1332 :       break;
+     654             :     }
+     655             : 
+     656        1343 :     case common::ACTUATORS_CMD: {
+     657        1343 :       MPC(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     658        1343 :       break;
+     659             :     }
+     660             : 
+     661           0 :     default: {
+     662           0 :       break;
+     663             :     }
+     664             :   }
+     665             : 
+     666       21282 :   return last_control_output_;
+     667             : }
+     668             : 
+     669             : //}
+     670             : 
+     671             : /* //{ getStatus() */
+     672             : 
+     673        3818 : const mrs_msgs::ControllerStatus MpcController::getStatus() {
+     674             : 
+     675        3818 :   mrs_msgs::ControllerStatus controller_status;
+     676             : 
+     677        3818 :   controller_status.active = is_active_;
+     678             : 
+     679        3818 :   return controller_status;
+     680             : }
+     681             : 
+     682             : //}
+     683             : 
+     684             : /* switchOdometrySource() //{ */
+     685             : 
+     686           0 : void MpcController::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     687             : 
+     688           0 :   ROS_INFO("[%s]: switching the odometry source", this->name_.c_str());
+     689             : 
+     690           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     691             : 
+     692             :   // | ----- transform world disturabances to the new frame ----- |
+     693             : 
+     694           0 :   geometry_msgs::Vector3Stamped world_integrals;
+     695             : 
+     696           0 :   world_integrals.header.stamp    = ros::Time::now();
+     697           0 :   world_integrals.header.frame_id = uav_state.header.frame_id;
+     698             : 
+     699           0 :   world_integrals.vector.x = Iw_w_[0];
+     700           0 :   world_integrals.vector.y = Iw_w_[1];
+     701           0 :   world_integrals.vector.z = 0;
+     702             : 
+     703           0 :   auto res = common_handlers_->transformer->transformSingle(world_integrals, new_uav_state.header.frame_id);
+     704             : 
+     705           0 :   if (res) {
+     706             : 
+     707           0 :     std::scoped_lock lock(mutex_integrals_);
+     708             : 
+     709           0 :     Iw_w_[0] = res.value().vector.x;
+     710           0 :     Iw_w_[1] = res.value().vector.y;
+     711             : 
+     712             :   } else {
+     713             : 
+     714           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: could not transform world integral to the new frame", this->name_.c_str());
+     715             : 
+     716           0 :     std::scoped_lock lock(mutex_integrals_);
+     717             : 
+     718           0 :     Iw_w_[0] = 0;
+     719           0 :     Iw_w_[1] = 0;
+     720             :   }
+     721           0 : }
+     722             : 
+     723             : //}
+     724             : 
+     725             : /* resetDisturbanceEstimators() //{ */
+     726             : 
+     727           0 : void MpcController::resetDisturbanceEstimators(void) {
+     728             : 
+     729           0 :   std::scoped_lock lock(mutex_integrals_);
+     730             : 
+     731           0 :   Iw_w_ = Eigen::Vector2d::Zero(2);
+     732           0 :   Ib_b_ = Eigen::Vector2d::Zero(2);
+     733           0 : }
+     734             : 
+     735             : //}
+     736             : 
+     737             : /* setConstraints() //{ */
+     738             : 
+     739         378 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcController::setConstraints([
+     740             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     741             : 
+     742         378 :   if (!is_initialized_) {
+     743           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     744             :   }
+     745             : 
+     746         378 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     747             : 
+     748         378 :   ROS_INFO("[%s]: updating constraints", this->name_.c_str());
+     749             : 
+     750         756 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     751         378 :   res.success = true;
+     752         378 :   res.message = "constraints updated";
+     753             : 
+     754         378 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     755             : }
+     756             : 
+     757             : //}
+     758             : 
+     759             : // --------------------------------------------------------------
+     760             : // |                         controllers                        |
+     761             : // --------------------------------------------------------------
+     762             : 
+     763             : /* Mpc() //{ */
+     764             : 
+     765       20696 : 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       41392 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     769       20696 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     770       20696 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     771             : 
+     772             :   // | ----------------- get the current heading ---------------- |
+     773             : 
+     774       20696 :   double uav_heading = getHeadingSafely(uav_state, tracker_command);
+     775             : 
+     776             :   // | ------------------- prepare constraints ------------------ |
+     777             : 
+     778       20696 :   double max_speed_horizontal        = _max_speed_horizontal_;
+     779       20696 :   double max_speed_vertical          = _max_speed_vertical_;
+     780       20696 :   double max_acceleration_horizontal = _max_acceleration_horizontal_;
+     781       20696 :   double max_acceleration_vertical   = _max_acceleration_vertical_;
+     782       20696 :   double max_jerk                    = _max_jerk_;
+     783       20696 :   double max_u_vertical              = _max_u_vertical_;
+     784             : 
+     785       20696 :   if (tracker_command.use_full_state_prediction) {
+     786             : 
+     787       12426 :     max_speed_horizontal = 1.5 * (constraints.horizontal_speed);
+     788       12426 :     max_speed_vertical   = 1.5 * (constraints.vertical_ascending_speed < constraints.vertical_descending_speed ? constraints.vertical_ascending_speed
+     789             :                                                                                                              : constraints.vertical_descending_speed);
+     790             : 
+     791       12426 :     max_acceleration_horizontal = 1.5 * (constraints.horizontal_acceleration);
+     792       12426 :     max_acceleration_vertical =
+     793       12426 :         1.5 * (constraints.vertical_ascending_acceleration < constraints.vertical_descending_acceleration ? constraints.vertical_ascending_acceleration
+     794             :                                                                                                           : constraints.vertical_descending_acceleration);
+     795             : 
+     796       12426 :     max_jerk       = 1.5 * constraints.horizontal_jerk;
+     797       12426 :     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       20696 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     810       20696 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     811       20696 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     812             : 
+     813       20696 :   Rp << tracker_command.position.x, tracker_command.position.y, tracker_command.position.z;  // fill the desired position
+     814       20696 :   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       20696 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     821       20696 :   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       20696 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     825             : 
+     826             :   // Ow - UAV angular rate
+     827       20696 :   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       20696 :   Eigen::Vector3d Ep = Rp - Op;
+     836       20696 :   Eigen::Vector3d Ev = Rv - Ov;
+     837             : 
+     838             :   // | ------------------- initial conditions ------------------- |
+     839             : 
+     840       41392 :   Eigen::MatrixXd initial_x = Eigen::MatrixXd::Zero(3, 1);
+     841       41392 :   Eigen::MatrixXd initial_y = Eigen::MatrixXd::Zero(3, 1);
+     842       41392 :   Eigen::MatrixXd initial_z = Eigen::MatrixXd::Zero(3, 1);
+     843             : 
+     844             :   /* initial x //{ */
+     845             : 
+     846             :   {
+     847             :     double acceleration;
+     848             :     double velocity;
+     849       20696 :     double coef = 1.5;
+     850             : 
+     851       20696 :     if (fabs(uav_state.acceleration.linear.x) < coef * max_acceleration_horizontal) {
+     852       20696 :       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       20696 :     if (fabs(uav_state.velocity.linear.x) < coef * max_speed_horizontal) {
+     861       20696 :       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       20696 :     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       20696 :     double coef = 1.5;
+     880             : 
+     881       20696 :     if (fabs(uav_state.acceleration.linear.y) < coef * max_acceleration_horizontal) {
+     882       20696 :       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       20696 :     if (fabs(uav_state.velocity.linear.y) < coef * max_speed_horizontal) {
+     891       20696 :       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       20696 :     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       20696 :     double coef = 1.5;
+     910             : 
+     911       20696 :     if (fabs(uav_state.acceleration.linear.z) < coef * max_acceleration_horizontal) {
+     912       20696 :       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       20696 :     if (fabs(uav_state.velocity.linear.z) < coef * max_speed_vertical) {
+     921       20696 :       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       20696 :     initial_z << uav_state.pose.position.z, velocity, acceleration;
+     930             :   }
+     931             : 
+     932             :   //}
+     933             : 
+     934             :   // | ---------------------- set reference --------------------- |
+     935             : 
+     936       41392 :   Eigen::MatrixXd mpc_reference_x = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     937       41392 :   Eigen::MatrixXd mpc_reference_y = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     938       41392 :   Eigen::MatrixXd mpc_reference_z = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     939             : 
+     940             :   // prepare the full reference vector
+     941       20696 :   if (tracker_command.use_full_state_prediction) {
+     942             : 
+     943       12426 :     mpc_reference_x(0, 0) = tracker_command.position.x;
+     944       12426 :     mpc_reference_y(0, 0) = tracker_command.position.y;
+     945       12426 :     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      323076 :     for (int i = 1; i < _horizon_length_; i++) {
+     951      310650 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].x;
+     952      310650 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].y;
+     953      310650 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].z;
+     954             :     }
+     955             : 
+     956      323076 :     for (int i = 1; i < _horizon_length_; i++) {
+     957      310650 :       mpc_reference_x((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].x;
+     958      310650 :       mpc_reference_y((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].y;
+     959      310650 :       mpc_reference_z((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].z;
+     960             :     }
+     961             : 
+     962      323076 :     for (int i = 1; i < _horizon_length_; i++) {
+     963      310650 :       mpc_reference_x((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].x;
+     964      310650 :       mpc_reference_y((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].y;
+     965      310650 :       mpc_reference_z((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].z;
+     966             :     }
+     967             : 
+     968             :   } else {
+     969             : 
+     970      223290 :     for (int i = 0; i < _horizon_length_; i++) {
+     971      215020 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.position.x;
+     972      215020 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.position.y;
+     973      215020 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.position.z;
+     974             :     }
+     975             :   }
+     976             : 
+     977             :   // | ------------------ set the penalizations ----------------- |
+     978             : 
+     979       41392 :   std::vector<double> temp_Q_horizontal = _mat_Q_;
+     980       41392 :   std::vector<double> temp_Q_vertical   = _mat_Q_z_;
+     981             : 
+     982       41392 :   std::vector<double> temp_S_horizontal = _mat_S_;
+     983       41392 :   std::vector<double> temp_S_vertical   = _mat_S_z_;
+     984             : 
+     985       20696 :   if (!tracker_command.use_position_horizontal) {
+     986           0 :     temp_Q_horizontal[0] = 0;
+     987           0 :     temp_S_horizontal[0] = 0;
+     988             :   }
+     989             : 
+     990       20696 :   if (!tracker_command.use_velocity_horizontal) {
+     991           0 :     temp_Q_horizontal[1] = 0;
+     992           0 :     temp_S_horizontal[1] = 0;
+     993             :   }
+     994             : 
+     995       20696 :   if (!tracker_command.use_position_vertical) {
+     996           0 :     temp_Q_vertical[0] = 0;
+     997           0 :     temp_S_vertical[0] = 0;
+     998             :   }
+     999             : 
+    1000       20696 :   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       20696 :   mpc_solver_x_->setQ(temp_Q_horizontal);
+    1008       20696 :   mpc_solver_x_->setS(temp_S_horizontal);
+    1009       20696 :   mpc_solver_x_->setParams();
+    1010       20696 :   mpc_solver_x_->setLastInput(mpc_solver_x_u_);
+    1011       20696 :   mpc_solver_x_->loadReference(mpc_reference_x);
+    1012       20696 :   mpc_solver_x_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1013       20696 :   mpc_solver_x_->setInitialState(initial_x);
+    1014       20696 :   [[maybe_unused]] int iters_x = mpc_solver_x_->solveMPC();
+    1015       20696 :   mpc_solver_x_u_              = mpc_solver_x_->getFirstControlInput();
+    1016             : 
+    1017       20696 :   mpc_solver_y_->setQ(temp_Q_horizontal);
+    1018       20696 :   mpc_solver_y_->setS(temp_S_horizontal);
+    1019       20696 :   mpc_solver_y_->setParams();
+    1020       20696 :   mpc_solver_y_->setLastInput(mpc_solver_y_u_);
+    1021       20696 :   mpc_solver_y_->loadReference(mpc_reference_y);
+    1022       20696 :   mpc_solver_y_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1023       20696 :   mpc_solver_y_->setInitialState(initial_y);
+    1024       20696 :   [[maybe_unused]] int iters_y = mpc_solver_y_->solveMPC();
+    1025       20696 :   mpc_solver_y_u_              = mpc_solver_y_->getFirstControlInput();
+    1026             : 
+    1027       20696 :   mpc_solver_z_->setQ(temp_Q_vertical);
+    1028       20696 :   mpc_solver_z_->setS(temp_S_vertical);
+    1029       20696 :   mpc_solver_z_->setParams();
+    1030       20696 :   mpc_solver_z_->setLastInput(mpc_solver_z_u_);
+    1031       20696 :   mpc_solver_z_->loadReference(mpc_reference_z);
+    1032       20696 :   mpc_solver_z_->setLimits(max_speed_vertical, max_acceleration_vertical, max_u_vertical, 999.0, _dt1_, _dt2_);
+    1033       20696 :   mpc_solver_z_->setInitialState(initial_z);
+    1034       20696 :   [[maybe_unused]] int iters_z = mpc_solver_z_->solveMPC();
+    1035       20696 :   mpc_solver_z_u_              = mpc_solver_z_->getFirstControlInput();
+    1036             : 
+    1037             :   // | ----------- disable lateral feedback if needed ----------- |
+    1038             : 
+    1039       20696 :   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       20696 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+    1047             : 
+    1048       20696 :   Eigen::Array3d Kw(0, 0, 0);
+    1049       20696 :   Eigen::Array3d Kq;
+    1050             : 
+    1051             :   {
+    1052       20696 :     std::scoped_lock lock(mutex_gains_);
+    1053             : 
+    1054       20696 :     Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+    1055             : 
+    1056       20696 :     Kw[0] = gains.kw_rp;
+    1057       20696 :     Kw[1] = gains.kw_rp;
+    1058       20696 :     Kw[2] = gains.kw_y;
+    1059             :   }
+    1060             : 
+    1061             :   // | ---------- desired orientation matrix and force ---------- |
+    1062             : 
+    1063             :   // get body integral in the world frame
+    1064             : 
+    1065       20696 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+    1066             : 
+    1067             :   {
+    1068             : 
+    1069       41392 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+    1070             : 
+    1071       20696 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+    1072       20696 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+    1073       20696 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+    1074       20696 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+    1075       20696 :     Ib_b_stamped.vector.z        = 0;
+    1076             : 
+    1077       41392 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+    1078             : 
+    1079       20696 :     if (res) {
+    1080       20696 :       Ib_w[0] = res.value().vector.x;
+    1081       20696 :       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       20696 :   if (tracker_command.use_acceleration && !tracker_command.use_full_state_prediction) {
+    1090        2097 :     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       18599 :     Ra << mpc_solver_x_u_, mpc_solver_y_u_, mpc_solver_z_u_;
+    1093             :   }
+    1094             : 
+    1095       20696 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+    1096             : 
+    1097       20696 :   Eigen::Vector3d feed_forward = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+    1098             : 
+    1099       20696 :   Eigen::Vector3d integral_feedback;
+    1100             :   {
+    1101       20696 :     std::scoped_lock lock(mutex_integrals_);
+    1102             : 
+    1103       20696 :     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       41392 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+    1118             : 
+    1119       20696 :     Eigen::Vector3d integration_switch(1, 1, 0);
+    1120             : 
+    1121             :     // integrate the world error
+    1122             : 
+    1123             :     // antiwindup
+    1124       20696 :     double temp_gain = gains.kiwxy;
+    1125       20696 :     if (!tracker_command.disable_antiwindups) {
+    1126       18642 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1127        9669 :         temp_gain = 0;
+    1128        9669 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for world integral kicks in", this->name_.c_str());
+    1129             :       }
+    1130             :     }
+    1131             : 
+    1132       20696 :     if (integral_terms_enabled_) {
+    1133       20696 :       if (tracker_command.use_position_horizontal) {
+    1134       20696 :         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       20696 :     bool world_integral_saturated = false;
+    1142       20696 :     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       20696 :     } else if (Iw_w_[0] > gains.kiwxy_lim) {
+    1146           0 :       Iw_w_[0]                 = gains.kiwxy_lim;
+    1147           0 :       world_integral_saturated = true;
+    1148       20696 :     } 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       20696 :     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       20696 :     world_integral_saturated = false;
+    1159       20696 :     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       20696 :     } else if (Iw_w_[1] > gains.kiwxy_lim) {
+    1163           0 :       Iw_w_[1]                 = gains.kiwxy_lim;
+    1164           0 :       world_integral_saturated = true;
+    1165       20696 :     } 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       20696 :     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       41392 :     std::scoped_lock lock(mutex_gains_);
+    1181             : 
+    1182       20696 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+    1183       20696 :     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       41392 :       geometry_msgs::Vector3Stamped Ep_stamped;
+    1189             : 
+    1190       20696 :       Ep_stamped.header.stamp    = ros::Time::now();
+    1191       20696 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+    1192       20696 :       Ep_stamped.vector.x        = Ep(0);
+    1193       20696 :       Ep_stamped.vector.y        = Ep(1);
+    1194       20696 :       Ep_stamped.vector.z        = Ep(2);
+    1195             : 
+    1196       62088 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+    1197             : 
+    1198       20696 :       if (res) {
+    1199       20696 :         Ep_fcu_untilted[0] = res.value().vector.x;
+    1200       20696 :         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       41392 :       geometry_msgs::Vector3Stamped Ev_stamped;
+    1209             : 
+    1210       20696 :       Ev_stamped.header.stamp    = ros::Time::now();
+    1211       20696 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+    1212       20696 :       Ev_stamped.vector.x        = Ev(0);
+    1213       20696 :       Ev_stamped.vector.y        = Ev(1);
+    1214       20696 :       Ev_stamped.vector.z        = Ev(2);
+    1215             : 
+    1216       62088 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+    1217             : 
+    1218       20696 :       if (res) {
+    1219       20696 :         Ev_fcu_untilted[0] = res.value().vector.x;
+    1220       20696 :         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       20696 :     double temp_gain = gains.kibxy;
+    1230       20696 :     if (!tracker_command.disable_antiwindups) {
+    1231       18642 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1232        9669 :         temp_gain = 0;
+    1233        9669 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for body integral kicks in", this->name_.c_str());
+    1234             :       }
+    1235             :     }
+    1236             : 
+    1237       20696 :     if (integral_terms_enabled_) {
+    1238       20696 :       if (tracker_command.use_position_horizontal) {
+    1239       20696 :         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       20696 :     bool body_integral_saturated = false;
+    1247       20696 :     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       20696 :     } else if (Ib_b_[0] > gains.kibxy_lim) {
+    1251           0 :       Ib_b_[0]                = gains.kibxy_lim;
+    1252           0 :       body_integral_saturated = true;
+    1253       20696 :     } 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       20696 :     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       20696 :     body_integral_saturated = false;
+    1264       20696 :     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       20696 :     } else if (Ib_b_[1] > gains.kibxy_lim) {
+    1268           0 :       Ib_b_[1]                = gains.kibxy_lim;
+    1269           0 :       body_integral_saturated = true;
+    1270       20696 :     } 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       20696 :     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       20696 :   Eigen::Vector3d des_acc = integral_feedback / total_mass + Ra;
+    1283             : 
+    1284       20696 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1285             : 
+    1286         804 :     if (output_modality == common::ACCELERATION_HDG) {
+    1287             : 
+    1288         806 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1289             : 
+    1290         403 :       cmd.acceleration.x = des_acc[0];
+    1291         403 :       cmd.acceleration.y = des_acc[1];
+    1292         403 :       cmd.acceleration.z = des_acc[2];
+    1293             : 
+    1294         403 :       cmd.heading = tracker_command.heading;
+    1295             : 
+    1296         403 :       last_control_output_.control_output = cmd;
+    1297             : 
+    1298             :     } else {
+    1299             : 
+    1300         401 :       double des_hdg_ff = 0;
+    1301             : 
+    1302         401 :       if (tracker_command.use_heading_rate) {
+    1303         401 :         des_hdg_ff = tracker_command.heading_rate;
+    1304             :       }
+    1305             : 
+    1306         802 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1307             : 
+    1308         401 :       cmd.acceleration.x = des_acc[0];
+    1309         401 :       cmd.acceleration.y = des_acc[1];
+    1310         401 :       cmd.acceleration.z = des_acc[2];
+    1311             : 
+    1312         401 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1313             : 
+    1314         401 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1315             : 
+    1316         401 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1317             : 
+    1318         401 :       cmd.heading_rate = des_hdg_rate;
+    1319             : 
+    1320         401 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1321             : 
+    1322         401 :       last_control_output_.control_output = cmd;
+    1323             :     }
+    1324             : 
+    1325             :     // | -------------- unbiased desired acceleration ------------- |
+    1326             : 
+    1327         804 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1328             : 
+    1329             :     {
+    1330             : 
+    1331        1608 :       geometry_msgs::Vector3Stamped world_accel;
+    1332             : 
+    1333         804 :       world_accel.header.stamp    = ros::Time::now();
+    1334         804 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1335         804 :       world_accel.vector.x        = Ra[0];
+    1336         804 :       world_accel.vector.y        = Ra[1];
+    1337         804 :       world_accel.vector.z        = Ra[2];
+    1338             : 
+    1339        2412 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1340             : 
+    1341         804 :       if (res) {
+    1342         804 :         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         804 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1348             : 
+    1349             :     // | ----------------- fill in the diagnostics ---------------- |
+    1350             : 
+    1351         804 :     last_control_output_.diagnostics.ramping_up = false;
+    1352             : 
+    1353         804 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1354         804 :     last_control_output_.diagnostics.mass_difference = 0;
+    1355         804 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1356             : 
+    1357         804 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1358             : 
+    1359         804 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1360         804 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1361             : 
+    1362         804 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1363         804 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1364             : 
+    1365         804 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1366         804 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1367             : 
+    1368         804 :     last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1369             : 
+    1370         804 :     last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * max_speed_horizontal;
+    1371         804 :     last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * max_acceleration_horizontal;
+    1372             : 
+    1373         804 :     last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * max_speed_vertical;
+    1374         804 :     last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1375             : 
+    1376         804 :     last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * max_speed_vertical;
+    1377         804 :     last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1378             : 
+    1379         804 :     last_control_output_.diagnostics.controller = name_;
+    1380             : 
+    1381         804 :     return;
+    1382             :   }
+    1383             : 
+    1384             :   /* mass estimatior //{ */
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                integrate the mass difference               |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390             :   {
+    1391       39784 :     std::scoped_lock lock(mutex_gains_);
+    1392             : 
+    1393             :     // antiwindup
+    1394       19892 :     double temp_gain = gains.km;
+    1395       39542 :     if (rampup_active_ ||
+    1396       19650 :         (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        6413 :       temp_gain = 0;
+    1398        6413 :       ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for the mass kicks in", this->name_.c_str());
+    1399             :     }
+    1400             : 
+    1401       19892 :     if (tracker_command.use_position_vertical) {
+    1402       19892 :       uav_mass_difference_ += temp_gain * Ep[2] * dt;
+    1403             :     }
+    1404             : 
+    1405             :     // saturate the mass estimator
+    1406       19892 :     bool uav_mass_saturated = false;
+    1407       19892 :     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       19892 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1411           0 :       uav_mass_difference_ = gains.km_lim;
+    1412           0 :       uav_mass_saturated   = true;
+    1413       19892 :     } 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       19892 :     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       19892 :   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       19892 :   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       19892 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1441             : 
+    1442       19892 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "MpcController");
+    1443             : 
+    1444       19892 :   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       19892 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1458             : 
+    1459             :   // --------------------------------------------------------------
+    1460             :   // |               desired orientation + throttle               |
+    1461             :   // --------------------------------------------------------------
+    1462             : 
+    1463             :   // | ------------------- desired orientation ------------------ |
+    1464             : 
+    1465       19892 :   Eigen::Matrix3d Rd;
+    1466             : 
+    1467       19892 :   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       19892 :     Eigen::Vector3d bxd;  // desired heading vector
+    1484             : 
+    1485       19892 :     if (tracker_command.use_heading) {
+    1486       19892 :       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       19892 :     Rd = common::so3transform(f_normed, bxd, false);
+    1493             :   }
+    1494             : 
+    1495             :   // | -------------------- desired throttle -------------------- |
+    1496             : 
+    1497       19892 :   double desired_thrust_force = f.dot(R.col(2));
+    1498       19892 :   double throttle             = 0;
+    1499             : 
+    1500       19892 :   if (rampup_active_) {
+    1501             : 
+    1502             :     // deactivate the rampup when the times up
+    1503         242 :     if (fabs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1504             : 
+    1505          28 :       rampup_active_ = false;
+    1506             : 
+    1507          28 :       ROS_INFO("[%s]: rampup finished", name_.c_str());
+    1508             : 
+    1509             :     } else {
+    1510             : 
+    1511         214 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1512             : 
+    1513         214 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1514             : 
+    1515         214 :       rampup_last_time_ = ros::Time::now();
+    1516             : 
+    1517         214 :       throttle = rampup_throttle_;
+    1518             : 
+    1519         214 :       ROS_INFO_THROTTLE(0.1, "[%s]: ramping up throttle, %.4f", name_.c_str(), throttle);
+    1520             :     }
+    1521             : 
+    1522             :   } else {
+    1523             : 
+    1524       19650 :     if (desired_thrust_force >= 0) {
+    1525       19650 :       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       19892 :   bool throttle_saturated = false;
+    1534             : 
+    1535       19892 :   if (!std::isfinite(throttle)) {
+    1536             : 
+    1537           0 :     ROS_ERROR("[%s]: NaN detected in variable 'throttle'!!!", name_.c_str());
+    1538           0 :     return;
+    1539             : 
+    1540       19892 :   } 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       19892 :   } 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       19892 :   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       19892 :   double desired_x_accel = 0;
+    1569       19892 :   double desired_y_accel = 0;
+    1570       19892 :   double desired_z_accel = 0;
+    1571             : 
+    1572             :   {
+    1573       19892 :     Eigen::Vector3d thrust_vector = desired_thrust_force * Rd.col(2);
+    1574             : 
+    1575       19892 :     double world_accel_x = (thrust_vector[0] / total_mass) - (Iw_w_[0] / total_mass) - (Ib_w[0] / total_mass);
+    1576       19892 :     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       19892 :     double world_accel_z = tracker_command.acceleration.z;
+    1580             : 
+    1581       39784 :     geometry_msgs::Vector3Stamped world_accel;
+    1582             : 
+    1583       19892 :     world_accel.header.stamp    = ros::Time::now();
+    1584       19892 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1585       19892 :     world_accel.vector.x        = world_accel_x;
+    1586       19892 :     world_accel.vector.y        = world_accel_y;
+    1587       19892 :     world_accel.vector.z        = world_accel_z;
+    1588             : 
+    1589       59676 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1590             : 
+    1591       19892 :     if (res) {
+    1592             : 
+    1593       19892 :       desired_x_accel = res.value().vector.x;
+    1594       19892 :       desired_y_accel = res.value().vector.y;
+    1595       19892 :       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       19892 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1603             : 
+    1604             :   // fill the unbiased desired accelerations
+    1605       19892 :   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       19892 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1610             : 
+    1611       19892 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1612       19892 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1613       19892 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1614             : 
+    1615       19892 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1616             : 
+    1617       19892 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1618       19892 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1619             : 
+    1620       19892 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1621       19892 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1622             : 
+    1623       19892 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1624       19892 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1625             : 
+    1626       19892 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1627             : 
+    1628       19892 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1629       19892 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1630             : 
+    1631       19892 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1632       19892 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1633             : 
+    1634       19892 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1635       19892 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1636             : 
+    1637       19892 :   last_control_output_.diagnostics.controller = name_;
+    1638             : 
+    1639             :   // | ------------ construct the attitude reference ------------ |
+    1640             : 
+    1641       19892 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1642             : 
+    1643       19892 :   attitude_cmd.stamp       = ros::Time::now();
+    1644       19892 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1645       19892 :   attitude_cmd.throttle    = throttle;
+    1646             : 
+    1647       19892 :   if (output_modality == common::ATTITUDE) {
+    1648             : 
+    1649         794 :     last_control_output_.control_output = attitude_cmd;
+    1650             : 
+    1651         794 :     return;
+    1652             :   }
+    1653             : 
+    1654             :   // --------------------------------------------------------------
+    1655             :   // |                      attitude control                      |
+    1656             :   // --------------------------------------------------------------
+    1657             : 
+    1658       19098 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1659             : 
+    1660       19098 :   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       19098 :   } else if (tracker_command.use_heading_rate) {
+    1665             : 
+    1666             :     // to fill in the feed forward yaw rate
+    1667       19093 :     double desired_yaw_rate = 0;
+    1668             : 
+    1669             :     try {
+    1670       19093 :       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       19093 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1677             :   }
+    1678             : 
+    1679             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1680             : 
+    1681       19098 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1682             : 
+    1683       19098 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1684             : 
+    1685       10833 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: using jerk feedforward", name_.c_str());
+    1686             : 
+    1687       10833 :     Eigen::Matrix3d I;
+    1688       10833 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1689       10833 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1690       10833 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1691             :   }
+    1692             : 
+    1693             :   // | --------------- run the attitude controller -------------- |
+    1694             : 
+    1695       19098 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1696             : 
+    1697       19098 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq, false);
+    1698             : 
+    1699       19098 :   if (!attitude_rate_command) {
+    1700           0 :     return;
+    1701             :   }
+    1702             : 
+    1703             :   // | --------- fill in the already known attitude rate -------- |
+    1704             : 
+    1705             :   {
+    1706             :     try {
+    1707       19098 :       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       19098 :   if (output_modality == common::ATTITUDE_RATE) {
+    1716             : 
+    1717       16423 :     last_control_output_.control_output = attitude_rate_command;
+    1718             : 
+    1719       16423 :     return;
+    1720             :   }
+    1721             : 
+    1722             :   // --------------------------------------------------------------
+    1723             :   // |                    Attitude rate control                   |
+    1724             :   // --------------------------------------------------------------
+    1725             : 
+    1726        2675 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1727             : 
+    1728        2675 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1729             : 
+    1730        2675 :   if (!control_group_command) {
+    1731           0 :     return;
+    1732             :   }
+    1733             : 
+    1734        2675 :   if (output_modality == common::CONTROL_GROUP) {
+    1735             : 
+    1736        1332 :     last_control_output_.control_output = control_group_command;
+    1737             : 
+    1738        1332 :     return;
+    1739             :   }
+    1740             : 
+    1741             :   // --------------------------------------------------------------
+    1742             :   // |                        output mixer                        |
+    1743             :   // --------------------------------------------------------------
+    1744             : 
+    1745        2686 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1746             : 
+    1747        1343 :   last_control_output_.control_output = actuator_cmd;
+    1748             : 
+    1749        1343 :   return;
+    1750             : }
+    1751             : 
+    1752             : //}
+    1753             : 
+    1754             : /* positionPassthrough() //{ */
+    1755             : 
+    1756         182 : void MpcController::positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    1757             : 
+    1758         182 :   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         364 :   mrs_msgs::HwApiPositionCmd cmd;
+    1764             : 
+    1765         182 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1766         182 :   cmd.header.stamp    = ros::Time::now();
+    1767             : 
+    1768         182 :   cmd.position = tracker_command.position;
+    1769         182 :   cmd.heading  = tracker_command.heading;
+    1770             : 
+    1771         182 :   last_control_output_.control_output = cmd;
+    1772             : 
+    1773             :   // fill the unbiased desired accelerations
+    1774         182 :   last_control_output_.desired_unbiased_acceleration = {};
+    1775         182 :   last_control_output_.desired_orientation           = {};
+    1776         182 :   last_control_output_.desired_heading_rate          = {};
+    1777             : 
+    1778             :   // | ----------------- fill in the diagnostics ---------------- |
+    1779             : 
+    1780         182 :   last_control_output_.diagnostics.ramping_up = false;
+    1781             : 
+    1782         182 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1783         182 :   last_control_output_.diagnostics.mass_difference = 0;
+    1784             : 
+    1785         182 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1786             : 
+    1787         182 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1788         182 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1789             : 
+    1790         182 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1791         182 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1792             : 
+    1793         182 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1794         182 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1795             : 
+    1796         182 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1797             : 
+    1798         182 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1799         182 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1800             : 
+    1801         182 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1802         182 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1803             : 
+    1804         182 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1805         182 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1806             : 
+    1807         182 :   last_control_output_.diagnostics.controller = name_;
+    1808             : }
+    1809             : 
+    1810             : //}
+    1811             : 
+    1812             : /* PIDVelocityOutput() //{ */
+    1813             : 
+    1814         404 : 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         404 :   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         404 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1823             : 
+    1824         404 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1825         404 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1826             : 
+    1827         404 :   double hdg_ref = tracker_command.heading;
+    1828         404 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1829             : 
+    1830             :   // | ------------------ velocity feedforward ------------------ |
+    1831             : 
+    1832         404 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1833             : 
+    1834         404 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1835         404 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1836             :   }
+    1837             : 
+    1838             :   // | --------------------- control errors --------------------- |
+    1839             : 
+    1840         404 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1841             : 
+    1842             :   // | --------------------------- pid -------------------------- |
+    1843             : 
+    1844         404 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1845         404 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1846         404 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1847             : 
+    1848         404 :   double des_vel_x = position_pid_x_.update(Ep[0], dt);
+    1849         404 :   double des_vel_y = position_pid_y_.update(Ep[1], dt);
+    1850         404 :   double des_vel_z = position_pid_z_.update(Ep[2], dt);
+    1851             : 
+    1852             :   // | -------------------- position feedback ------------------- |
+    1853             : 
+    1854         404 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1855             : 
+    1856         404 :   if (control_output == common::VELOCITY_HDG) {
+    1857             : 
+    1858             :     // | --------------------- fill the output -------------------- |
+    1859             : 
+    1860         404 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1861             : 
+    1862         202 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1863         202 :     cmd.header.stamp    = ros::Time::now();
+    1864             : 
+    1865         202 :     cmd.velocity.x = des_vel[0];
+    1866         202 :     cmd.velocity.y = des_vel[1];
+    1867         202 :     cmd.velocity.z = des_vel[2];
+    1868             : 
+    1869         202 :     cmd.heading = tracker_command.heading;
+    1870             : 
+    1871         202 :     last_control_output_.control_output = cmd;
+    1872             : 
+    1873         202 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1874             : 
+    1875         202 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1876             : 
+    1877         202 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1878             : 
+    1879         202 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1880             : 
+    1881             :     // | --------------------------- ff --------------------------- |
+    1882             : 
+    1883         202 :     double des_hdg_ff = 0;
+    1884             : 
+    1885         202 :     if (tracker_command.use_heading_rate) {
+    1886         202 :       des_hdg_ff = tracker_command.heading_rate;
+    1887             :     }
+    1888             : 
+    1889             :     // | --------------------- fill the output -------------------- |
+    1890             : 
+    1891         404 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1892             : 
+    1893         202 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1894         202 :     cmd.header.stamp    = ros::Time::now();
+    1895             : 
+    1896         202 :     cmd.velocity.x = des_vel[0];
+    1897         202 :     cmd.velocity.y = des_vel[1];
+    1898         202 :     cmd.velocity.z = des_vel[2];
+    1899             : 
+    1900         202 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1901             : 
+    1902         202 :     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         404 :   last_control_output_.desired_unbiased_acceleration = {};
+    1911         404 :   last_control_output_.desired_orientation           = {};
+    1912         404 :   last_control_output_.desired_heading_rate          = {};
+    1913             : 
+    1914             :   // | ----------------- fill in the diagnostics ---------------- |
+    1915             : 
+    1916         404 :   last_control_output_.diagnostics.ramping_up = false;
+    1917             : 
+    1918         404 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1919         404 :   last_control_output_.diagnostics.mass_difference = 0;
+    1920             : 
+    1921         404 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1922             : 
+    1923         404 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1924         404 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1925             : 
+    1926         404 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1927         404 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1928             : 
+    1929         404 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1930         404 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1931             : 
+    1932         404 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1933             : 
+    1934         404 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1935         404 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1936             : 
+    1937         404 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1938         404 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1939             : 
+    1940         404 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1941         404 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1942             : 
+    1943         404 :   last_control_output_.diagnostics.controller = name_;
+    1944             : }
+    1945             : 
+    1946             : //}
+    1947             : 
+    1948             : // --------------------------------------------------------------
+    1949             : // |                          callbacks                         |
+    1950             : // --------------------------------------------------------------
+    1951             : 
+    1952             : /* //{ callbackDrs() */
+    1953             : 
+    1954          94 : void MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, [[maybe_unused]] uint32_t level) {
+    1955             : 
+    1956          94 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1957             : 
+    1958          94 :   ROS_INFO("[%s]: DRS updated gains", this->name_.c_str());
+    1959          94 : }
+    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        4883 : void MpcController::timerGains(const ros::TimerEvent &event) {
+    1993             : 
+    1994       14649 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1995             :   mrs_lib::ScopeTimer timer =
+    1996       14649 :       mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1997             : 
+    1998        9766 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1999        4883 :   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        4883 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    2004        4883 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    2005             : 
+    2006        4883 :   mute_gains_ = false;
+    2007             : 
+    2008        4883 :   const double dt = (event.current_real - event.last_real).toSec();
+    2009             : 
+    2010        4883 :   bool updated = false;
+    2011             : 
+    2012        4883 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    2013        4883 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    2014        4883 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    2015        4883 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    2016        4883 :   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        4883 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    2020        4883 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    2021        4883 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    2022             : 
+    2023        4883 :   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        4883 :   if (updated) {
+    2028             : 
+    2029         756 :     drs_params.kiwxy         = gains.kiwxy;
+    2030         756 :     drs_params.kibxy         = gains.kibxy;
+    2031         756 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    2032         756 :     drs_params.kq_yaw        = gains.kq_yaw;
+    2033         756 :     drs_params.km            = gains.km;
+    2034         756 :     drs_params.km_lim        = gains.km_lim;
+    2035         756 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    2036         756 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    2037             : 
+    2038         756 :     drs_->updateConfig(drs_params);
+    2039             : 
+    2040         756 :     ROS_INFO_THROTTLE(10.0, "[%s]: gains have been updated", name_.c_str());
+    2041             :   }
+    2042        4883 : }
+    2043             : 
+    2044             : //}
+    2045             : 
+    2046             : // --------------------------------------------------------------
+    2047             : // |                       other routines                       |
+    2048             : // --------------------------------------------------------------
+    2049             : 
+    2050             : /* calculateGainChange() //{ */
+    2051             : 
+    2052       39064 : 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       39064 :   double change = desired_value - current_value;
+    2056             : 
+    2057       39064 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    2058       39064 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    2059             : 
+    2060       39064 :   if (!bypass_rate) {
+    2061             : 
+    2062             :     // if current value is near 0...
+    2063             :     double change_in_perc;
+    2064             :     double saturated_change;
+    2065             : 
+    2066       38644 :     if (fabs(current_value) < 1e-6) {
+    2067           0 :       change *= gains_filter_max_change;
+    2068             :     } else {
+    2069             : 
+    2070       38644 :       saturated_change = change;
+    2071             : 
+    2072       38644 :       change_in_perc = (current_value + saturated_change) / current_value - 1.0;
+    2073             : 
+    2074       38644 :       if (change_in_perc > gains_filter_max_change) {
+    2075        2940 :         saturated_change = current_value * gains_filter_max_change;
+    2076       35704 :       } else if (change_in_perc < -gains_filter_max_change) {
+    2077           0 :         saturated_change = current_value * -gains_filter_max_change;
+    2078             :       }
+    2079             : 
+    2080       38644 :       if (fabs(saturated_change) < fabs(change) * gains_filter_min_change) {
+    2081           0 :         change *= gains_filter_min_change;
+    2082             :       } else {
+    2083       38644 :         change = saturated_change;
+    2084             :       }
+    2085             :     }
+    2086             :   }
+    2087             : 
+    2088       39064 :   if (fabs(change) > 1e-3) {
+    2089        3780 :     ROS_DEBUG("[%s]: changing gain '%s' from %.2f to %.2f", name_.c_str(), name.c_str(), current_value, desired_value);
+    2090        3780 :     updated = true;
+    2091             :   }
+    2092             : 
+    2093       39064 :   return current_value + change;
+    2094             : }
+    2095             : 
+    2096             : //}
+    2097             : 
+    2098             : /* getHeadingSafely() //{ */
+    2099             : 
+    2100       21100 : double MpcController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    2101             : 
+    2102             :   try {
+    2103       21100 :     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          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::mpc_controller::MpcController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/mpc_controller.cpp.gcov.overview.html b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.overview.html new file mode 100644 index 0000000000..ec11992da7 --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.overview.html @@ -0,0 +1,553 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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+ + diff --git a/mrs_uav_controllers/src/mpc_controller.cpp.gcov.png b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..86eb361dfb14f3b34fba5b6ed313bb608d9474a9 GIT binary patch literal 6650 zcmVe90{{R30vG`D0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp!q=neQq=lq|T>q`SoACz-3XWc~`{H}In`8+JGKhe9xh~i1b^ZI_ zWmNl%??8HOq0E3yP;1w#7H~|z7fj4`2vG=Qi=f^y@_0F7&W!_O96^m5BLY-o)OT&- zqk^z%<7Va@H^+z;!niAx&=xIV6|@I%9Yfa@^o%bIQCJrA?G;N&hcYEH)d1XI3{ydw znB@v|&IvOWPC@yH6}@Mlu9bdS0=&>J&>!(1R`R|*_-m3L!7AzFK9-&Z{Oo5qQhS1~ z?^-mg2rD2DWH{NPx`u`g!SziH3hrQ%f2~A2BMw z8Q22!&qaZ8J;jX@Bbe)@6tUj9UJ}iIgBE@qtX~2JSguw8=r=4&+LCp4T?4%2rDKJ^ z&E)2;;Um(E24aLy;S!`3ba6s(^L(d8J8upwc&~!qAtw8YF^b5jWEcs4uwsa}G=vl%*rN@qy( zDp7&ZGjv_RYTgE12iVNPT^J;*iVMiiQgthi2UIukc#J@I3Go7rJd?+Y>hnA({Ktg> zvkrfMW|pX9<6vGm%W!X+rOm-kj-TH{$_+ z+Zf?&zY$P`9UJ66FwO{cSKFEa(|5qmJ&$KKW3-GhcG*oQZuh&pCvxULA1OENkQT`R69aPH%8!<*@A3X$1 z@)`$A+bp?YjFRLyPRz7aQ#_fc7L5GR90hzl{)G12|9}2@{r&G~;n$znV{abt8Q;q7 z@@PRsKz)Pj^%|${Ok6=^IB9PMG)Rws^5gRlAIPi}3>dwUp0=a%jPw#sCCii2A0dasIN=#hbK6#7_kQjnzm1$8RDn>h zll?q-z4kg4CB=NidOe)#pD{+!19pcl1BJ7|`wKqASr9|_Cv&ek_GC4lUmXmW0rP9B z><{I>^Yaydghk*(l)ZBm&t`A}9u0c}`vJ9rOA~>X(+O39>J7S!xuzUreq28rqq0GU zFG+Wwe7Hh8L}LT5N!NBj%A`#M1Q;2ga{}~lHvy~%qaT&*w>JPPTf&&0K*z@m%5|oN zapyKGle>xg_dh~RZH!uCN*_QL%Mmt(^o(tv;B+bCE|B4S>mB2Wh&X4ZxWK#c#_b~Y zj{rH??kOCQ-*b#nmaa79?lCUW?m0h&8yOXSdhNPrC%mQsY#3cFP#6Ifu~`qOZnKW3 z4-ANx5pjop9WU(+2VW)uN(gAd=rBG3P>)f$pMmDOtW6I^8mWY+*)b--t4Blma1*M`Y-~)ERdTp0(HC< zxgG!z<_uLaZkU74ZTwyVVU!<TKeq7raC5>|iV{@me7Bh9%6LYVJ66L@X#xF6TYw;th5+@%L{CryFh(F_dru@6oT5GB+=rDp$273zVs}PhX5vKE?K5It z*S1o+os{1f!snPg)DWWr-L1=DAGj*G#G5fLWEhNp`b383@$X1(NdND_c%_8@#kePI zDFEj^GYibG0jZijQ2^qdx=Xf(TK5`jvpbH|ph=OhAQN6*>E^#)zTl_d;10V6akYXMNz^$c$z4X5dd$9USeGoAf!7Zr3bRfXbAV!!Q1u=Om^%2DA6aYs|0r-AmDke>HW;P7? 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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:61177478.9 %
Date:2023-12-06 10:06:33Functions: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()6
mrs_uav_controllers::se3_controller::Se3Controller::activate(mrs_uav_managers::Controller::ControlOutput const&)13
(anonymous namespace)::ProxyExec0::ProxyExec0()47
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>)47
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)94
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)182
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)189
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&)365
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()739
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)1144
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&)8433
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)8798
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)8980
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)16016
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)31598
+
+
+ + + +
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..1026ccb441 --- /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:61177478.9 %
Date:2023-12-06 10:06:33Functions:151788.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()6
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>)47
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)1144
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)94
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)8980
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&)8433
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)189
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)31598
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)8798
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&)365
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)16016
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)182
mrs_uav_controllers::se3_controller::Se3Controller::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::se3_controller::Se3Controller::resetDisturbanceEstimators()0
mrs_uav_controllers::se3_controller::Se3Controller::activate(mrs_uav_managers::Controller::ControlOutput const&)13
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()739
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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:61177478.9 %
Date:2023-12-06 10:06:33Functions:151788.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <common.h>
+       7             : #include <pid.hpp>
+       8             : 
+       9             : #include <mrs_uav_managers/controller.h>
+      10             : 
+      11             : #include <dynamic_reconfigure/server.h>
+      12             : #include <mrs_uav_controllers/se3_controllerConfig.h>
+      13             : 
+      14             : #include <mrs_lib/profiler.h>
+      15             : #include <mrs_lib/utils.h>
+      16             : #include <mrs_lib/mutex.h>
+      17             : #include <mrs_lib/attitude_converter.h>
+      18             : #include <mrs_lib/geometry/cyclic.h>
+      19             : 
+      20             : #include <geometry_msgs/Vector3Stamped.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : #define OUTPUT_ACTUATORS 0
+      25             : #define OUTPUT_CONTROL_GROUP 1
+      26             : #define OUTPUT_ATTITUDE_RATE 2
+      27             : #define OUTPUT_ATTITUDE 3
+      28             : 
+      29             : namespace mrs_uav_controllers
+      30             : {
+      31             : 
+      32             : namespace se3_controller
+      33             : {
+      34             : 
+      35             : /* structs //{ */
+      36             : 
+      37             : typedef struct
+      38             : {
+      39             :   double kpxy;           // position xy gain
+      40             :   double kvxy;           // velocity xy gain
+      41             :   double kaxy;           // acceleration xy gain (feed forward, =1)
+      42             :   double kiwxy;          // world xy integral gain
+      43             :   double kibxy;          // body xy integral gain
+      44             :   double kiwxy_lim;      // world xy integral limit
+      45             :   double kibxy_lim;      // body xy integral limit
+      46             :   double kpz;            // position z gain
+      47             :   double kvz;            // velocity z gain
+      48             :   double kaz;            // acceleration z gain (feed forward, =1)
+      49             :   double km;             // mass estimator gain
+      50             :   double km_lim;         // mass estimator limit
+      51             :   double kq_roll_pitch;  // pitch/roll attitude gain
+      52             :   double kq_yaw;         // yaw attitude gain
+      53             :   double kw_roll_pitch;  // attitude rate gain
+      54             :   double kw_yaw;         // attitude rate gain
+      55             : } Gains_t;
+      56             : 
+      57             : //}
+      58             : 
+      59             : /* //{ class Se3Controller */
+      60             : 
+      61             : class Se3Controller : public mrs_uav_managers::Controller {
+      62             : 
+      63             : public:
+      64             :   bool initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      65             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      66             : 
+      67             :   bool activate(const ControlOutput& last_control_output);
+      68             : 
+      69             :   void deactivate(void);
+      70             : 
+      71             :   void updateInactive(const mrs_msgs::UavState& uav_state, const std::optional<mrs_msgs::TrackerCommand>& tracker_command);
+      72             : 
+      73             :   ControlOutput updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command);
+      74             : 
+      75             :   const mrs_msgs::ControllerStatus getStatus();
+      76             : 
+      77             :   void switchOdometrySource(const mrs_msgs::UavState& new_uav_state);
+      78             : 
+      79             :   void resetDisturbanceEstimators(void);
+      80             : 
+      81             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd);
+      82             : 
+      83             : private:
+      84             :   ros::NodeHandle nh_;
+      85             : 
+      86             :   bool is_initialized_ = false;
+      87             :   bool is_active_      = false;
+      88             : 
+      89             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      90             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      91             : 
+      92             :   // | ------------------------ uav state ----------------------- |
+      93             : 
+      94             :   mrs_msgs::UavState uav_state_;
+      95             :   std::mutex         mutex_uav_state_;
+      96             : 
+      97             :   // | --------------- dynamic reconfigure server --------------- |
+      98             : 
+      99             :   boost::recursive_mutex                            mutex_drs_;
+     100             :   typedef mrs_uav_controllers::se3_controllerConfig DrsConfig_t;
+     101             :   typedef dynamic_reconfigure::Server<DrsConfig_t>  Drs_t;
+     102             :   boost::shared_ptr<Drs_t>                          drs_;
+     103             :   void                                              callbackDrs(mrs_uav_controllers::se3_controllerConfig& config, uint32_t level);
+     104             :   DrsConfig_t                                       drs_params_;
+     105             : 
+     106             :   // | ----------------------- controllers ---------------------- |
+     107             : 
+     108             :   void positionPassthrough(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command);
+     109             : 
+     110             :   void PIDVelocityOutput(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command, const common::CONTROL_OUTPUT& control_output,
+     111             :                          const double& dt);
+     112             : 
+     113             :   void SE3Controller(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command, const double& dt,
+     114             :                      const common::CONTROL_OUTPUT& output_modality);
+     115             : 
+     116             :   // | ----------------------- constraints ---------------------- |
+     117             : 
+     118             :   mrs_msgs::DynamicsConstraints constraints_;
+     119             :   std::mutex                    mutex_constraints_;
+     120             : 
+     121             :   // | --------- throttle generation and mass estimation -------- |
+     122             : 
+     123             :   double _uav_mass_;
+     124             :   double uav_mass_difference_;
+     125             : 
+     126             :   Gains_t gains_;
+     127             : 
+     128             :   std::mutex mutex_gains_;       // locks the gains the are used and filtered
+     129             :   std::mutex mutex_drs_params_;  // locks the gains that came from the drs
+     130             : 
+     131             :   ros::Timer timer_gains_;
+     132             :   void       timerGains(const ros::TimerEvent& event);
+     133             : 
+     134             :   double _gain_filtering_rate_;
+     135             : 
+     136             :   // | ----------------------- gain muting ---------------------- |
+     137             : 
+     138             :   std::atomic<bool> mute_gains_            = false;
+     139             :   std::atomic<bool> mute_gains_by_tracker_ = false;
+     140             :   double            _gain_mute_coefficient_;
+     141             : 
+     142             :   // | --------------------- gain filtering --------------------- |
+     143             : 
+     144             :   double calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name, bool& updated);
+     145             : 
+     146             :   double getHeadingSafely(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command);
+     147             : 
+     148             :   double _gains_filter_change_rate_;
+     149             :   double _gains_filter_min_change_rate_;
+     150             : 
+     151             :   // | ------------ controller limits and saturations ----------- |
+     152             : 
+     153             :   bool   _tilt_angle_failsafe_enabled_;
+     154             :   double _tilt_angle_failsafe_;
+     155             : 
+     156             :   double _throttle_saturation_;
+     157             : 
+     158             :   // | ------------------ activation and output ----------------- |
+     159             : 
+     160             :   ControlOutput last_control_output_;
+     161             :   ControlOutput activation_control_output_;
+     162             : 
+     163             :   ros::Time         last_update_time_;
+     164             :   std::atomic<bool> first_iteration_ = true;
+     165             : 
+     166             :   // | ------------------------ profiler_ ------------------------ |
+     167             : 
+     168             :   mrs_lib::Profiler profiler_;
+     169             :   bool              _profiler_enabled_ = false;
+     170             : 
+     171             :   // | ------------------------ integrals ----------------------- |
+     172             : 
+     173             :   Eigen::Vector2d Ib_b_;  // body error integral in the body frame
+     174             :   Eigen::Vector2d Iw_w_;  // world error integral in the world_frame
+     175             :   std::mutex      mutex_integrals_;
+     176             : 
+     177             :   // | ------------------------- rampup ------------------------- |
+     178             : 
+     179             :   bool   _rampup_enabled_ = false;
+     180             :   double _rampup_speed_;
+     181             : 
+     182             :   bool      rampup_active_ = false;
+     183             :   double    rampup_throttle_;
+     184             :   int       rampup_direction_;
+     185             :   double    rampup_duration_;
+     186             :   ros::Time rampup_start_time_;
+     187             :   ros::Time rampup_last_time_;
+     188             : 
+     189             :   // | ---------------------- position pid ---------------------- |
+     190             : 
+     191             :   double _pos_pid_p_;
+     192             :   double _pos_pid_i_;
+     193             :   double _pos_pid_d_;
+     194             : 
+     195             :   double _hdg_pid_p_;
+     196             :   double _hdg_pid_i_;
+     197             :   double _hdg_pid_d_;
+     198             : 
+     199             :   PIDController position_pid_x_;
+     200             :   PIDController position_pid_y_;
+     201             :   PIDController position_pid_z_;
+     202             :   PIDController position_pid_heading_;
+     203             : };
+     204             : 
+     205             : //}
+     206             : 
+     207             : // --------------------------------------------------------------
+     208             : // |                   controller's interface                   |
+     209             : // --------------------------------------------------------------
+     210             : 
+     211             : /* //{ initialize() */
+     212             : 
+     213          47 : 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          47 :   nh_ = nh;
+     217             : 
+     218          47 :   common_handlers_  = common_handlers;
+     219          47 :   private_handlers_ = private_handlers;
+     220             : 
+     221          47 :   _uav_mass_ = common_handlers->getMass();
+     222             : 
+     223          47 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // | ---------- loading params using the parent's nh ---------- |
+     226             : 
+     227          94 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     228             : 
+     229          47 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     230             : 
+     231          47 :   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          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/se3_controller.yaml");
+     239          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/se3_controller.yaml");
+     240             : 
+     241          94 :   const std::string yaml_namespace = "mrs_uav_controllers/se3_controller/";
+     242             : 
+     243             :   // lateral gains
+     244          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kp", gains_.kpxy);
+     245          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kv", gains_.kvxy);
+     246          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/ka", gains_.kaxy);
+     247             : 
+     248          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw", gains_.kiwxy);
+     249          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib", gains_.kibxy);
+     250             : 
+     251             :   // | ------------------------- rampup ------------------------- |
+     252             : 
+     253          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/enabled", _rampup_enabled_);
+     254          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/speed", _rampup_speed_);
+     255             : 
+     256             :   // height gains
+     257          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kp", gains_.kpz);
+     258          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kv", gains_.kvz);
+     259          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/ka", gains_.kaz);
+     260             : 
+     261             :   // attitude gains
+     262          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_roll_pitch", gains_.kq_roll_pitch);
+     263          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_yaw", gains_.kq_yaw);
+     264             : 
+     265             :   // attitude rate gains
+     266          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_roll_pitch", gains_.kw_roll_pitch);
+     267          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_yaw", gains_.kw_yaw);
+     268             : 
+     269             :   // mass estimator
+     270          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km", gains_.km);
+     271          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km_lim", gains_.km_lim);
+     272             : 
+     273             :   // integrator limits
+     274          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw_lim", gains_.kiwxy_lim);
+     275          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib_lim", gains_.kibxy_lim);
+     276             : 
+     277             :   // constraints
+     278          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     279          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     280             : 
+     281          47 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     282             : 
+     283          47 :   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          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/throttle_saturation", _throttle_saturation_);
+     289             : 
+     290             :   // gain filtering
+     291          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     292          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     293          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/rate", _gain_filtering_rate_);
+     294          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     295             : 
+     296             :   // output mode
+     297          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/preferred_output", drs_params_.preferred_output_mode);
+     298             : 
+     299          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rotation_matrix", drs_params_.rotation_type);
+     300             : 
+     301             :   // angular rate feed forward
+     302          94 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/parasitic_pitch_roll",
+     303          47 :                                             drs_params_.pitch_roll_heading_rate_compensation);
+     304          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     305             : 
+     306             :   // | ------------------- position pid params ------------------ |
+     307             : 
+     308          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     309          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     310          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     311             : 
+     312          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     313          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     314          47 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     315             : 
+     316             :   // | ------------------ finish loading params ----------------- |
+     317             : 
+     318          47 :   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          47 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     326          47 :         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          47 :   uav_mass_difference_ = 0;
+     333          47 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     334          47 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     335             : 
+     336             :   // | --------------- dynamic reconfigure server --------------- |
+     337             : 
+     338          47 :   drs_params_.kpxy             = gains_.kpxy;
+     339          47 :   drs_params_.kvxy             = gains_.kvxy;
+     340          47 :   drs_params_.kaxy             = gains_.kaxy;
+     341          47 :   drs_params_.kiwxy            = gains_.kiwxy;
+     342          47 :   drs_params_.kibxy            = gains_.kibxy;
+     343          47 :   drs_params_.kpz              = gains_.kpz;
+     344          47 :   drs_params_.kvz              = gains_.kvz;
+     345          47 :   drs_params_.kaz              = gains_.kaz;
+     346          47 :   drs_params_.kq_roll_pitch    = gains_.kq_roll_pitch;
+     347          47 :   drs_params_.kq_yaw           = gains_.kq_yaw;
+     348          47 :   drs_params_.kiwxy_lim        = gains_.kiwxy_lim;
+     349          47 :   drs_params_.kibxy_lim        = gains_.kibxy_lim;
+     350          47 :   drs_params_.km               = gains_.km;
+     351          47 :   drs_params_.km_lim           = gains_.km_lim;
+     352          47 :   drs_params_.jerk_feedforward = true;
+     353             : 
+     354          47 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     355          47 :   drs_->updateConfig(drs_params_);
+     356          47 :   Drs_t::CallbackType f = boost::bind(&Se3Controller::callbackDrs, this, _1, _2);
+     357          47 :   drs_->setCallback(f);
+     358             : 
+     359             :   // | ------------------------- timers ------------------------- |
+     360             : 
+     361          47 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &Se3Controller::timerGains, this, false, false);
+     362             : 
+     363             :   // | ---------------------- position pid ---------------------- |
+     364             : 
+     365          47 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     366          47 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     367          47 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     368          47 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     369             : 
+     370             :   // | ------------------------ profiler ------------------------ |
+     371             : 
+     372          47 :   profiler_ = mrs_lib::Profiler(common_handlers_->parent_nh, "Se3Controller", _profiler_enabled_);
+     373             : 
+     374             :   // | ----------------------- finish init ---------------------- |
+     375             : 
+     376          47 :   ROS_INFO("[Se3Controller]: initialized");
+     377             : 
+     378          47 :   is_initialized_ = true;
+     379             : 
+     380          47 :   return true;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : /* //{ activate() */
+     386             : 
+     387          13 : bool Se3Controller::activate(const ControlOutput& last_control_output) {
+     388             : 
+     389          13 :   activation_control_output_ = last_control_output;
+     390             : 
+     391          13 :   double activation_mass = _uav_mass_;
+     392             : 
+     393          13 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     394           0 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     395           0 :     activation_mass += uav_mass_difference_;
+     396           0 :     ROS_INFO("[Se3Controller]: setting mass difference from the last control output: %.2f kg", uav_mass_difference_);
+     397             :   }
+     398             : 
+     399          13 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     400             : 
+     401          13 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     402           0 :     Ib_b_[0] = -activation_control_output_.diagnostics.disturbance_bx_b;
+     403           0 :     Ib_b_[1] = -activation_control_output_.diagnostics.disturbance_by_b;
+     404             : 
+     405           0 :     Iw_w_[0] = -activation_control_output_.diagnostics.disturbance_wx_w;
+     406           0 :     Iw_w_[1] = -activation_control_output_.diagnostics.disturbance_wy_w;
+     407             : 
+     408           0 :     ROS_INFO(
+     409             :         "[Se3Controller]: setting disturbances from the last control output: Ib_b_: %.2f, %.2f N, Iw_w_: "
+     410             :         "%.2f, %.2f N",
+     411             :         Ib_b_[0], Ib_b_[1], Iw_w_[0], Iw_w_[1]);
+     412             :   }
+     413             : 
+     414             :   // did the last controller use manual throttle control?
+     415          13 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     416             : 
+     417             :   // rampup check
+     418          13 :   if (_rampup_enabled_ && throttle_last_controller) {
+     419             : 
+     420           8 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     421             : 
+     422           8 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     423             : 
+     424           8 :     if (throttle_difference > 0) {
+     425           2 :       rampup_direction_ = 1;
+     426           6 :     } else if (throttle_difference < 0) {
+     427           0 :       rampup_direction_ = -1;
+     428             :     } else {
+     429           6 :       rampup_direction_ = 0;
+     430             :     }
+     431             : 
+     432           8 :     ROS_INFO("[Se3Controller]: activating rampup with initial throttle: %.4f, target: %.4f", throttle_last_controller.value(), hover_throttle);
+     433             : 
+     434           8 :     rampup_active_     = true;
+     435           8 :     rampup_start_time_ = ros::Time::now();
+     436           8 :     rampup_last_time_  = ros::Time::now();
+     437           8 :     rampup_throttle_   = throttle_last_controller.value();
+     438             : 
+     439           8 :     rampup_duration_ = fabs(throttle_difference) / _rampup_speed_;
+     440             :   }
+     441             : 
+     442          13 :   first_iteration_ = true;
+     443          13 :   mute_gains_      = true;
+     444             : 
+     445          13 :   timer_gains_.start();
+     446             : 
+     447             :   // | ------------------ finish the activation ----------------- |
+     448             : 
+     449          13 :   ROS_INFO("[Se3Controller]: activated");
+     450             : 
+     451          13 :   is_active_ = true;
+     452             : 
+     453          13 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* //{ deactivate() */
+     459             : 
+     460           6 : void Se3Controller::deactivate(void) {
+     461             : 
+     462           6 :   is_active_           = false;
+     463           6 :   first_iteration_     = false;
+     464           6 :   uav_mass_difference_ = 0;
+     465             : 
+     466           6 :   timer_gains_.stop();
+     467             : 
+     468           6 :   ROS_INFO("[Se3Controller]: deactivated");
+     469           6 : }
+     470             : 
+     471             : //}
+     472             : 
+     473             : /* updateInactive() //{ */
+     474             : 
+     475       31598 : void Se3Controller::updateInactive(const mrs_msgs::UavState& uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command) {
+     476             : 
+     477       31598 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     478             : 
+     479       31598 :   last_update_time_ = uav_state.header.stamp;
+     480             : 
+     481       31598 :   first_iteration_ = false;
+     482       31598 : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ updateWhenActive() */
+     487             : 
+     488        8980 : Se3Controller::ControlOutput Se3Controller::updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+     489             : 
+     490       26940 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     491       26940 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     492             : 
+     493       17960 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     494             : 
+     495        8980 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     496             : 
+     497        8980 :   last_control_output_.desired_heading_rate          = {};
+     498        8980 :   last_control_output_.desired_orientation           = {};
+     499        8980 :   last_control_output_.desired_unbiased_acceleration = {};
+     500        8980 :   last_control_output_.control_output                = {};
+     501             : 
+     502             :   // | -------------------- calculate the dt -------------------- |
+     503             : 
+     504             :   double dt;
+     505             : 
+     506        8980 :   if (first_iteration_) {
+     507          13 :     dt               = 0.01;
+     508          13 :     first_iteration_ = false;
+     509             :   } else {
+     510        8967 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     511             :   }
+     512             : 
+     513        8980 :   last_update_time_ = uav_state.header.stamp;
+     514             : 
+     515        8980 :   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        8980 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     525             : 
+     526        8980 :   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        8980 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     536        4284 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing attitude rate output");
+     537        4284 :     lowest_modality = common::ATTITUDE_RATE;
+     538        4696 :   } 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        4696 :   } 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        4696 :   } 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        8980 :   switch (lowest_modality.value()) {
+     550             : 
+     551         182 :     case common::POSITION: {
+     552         182 :       positionPassthrough(uav_state, tracker_command);
+     553         182 :       break;
+     554             :     }
+     555             : 
+     556         183 :     case common::VELOCITY_HDG: {
+     557         183 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     558         183 :       break;
+     559             :     }
+     560             : 
+     561         182 :     case common::VELOCITY_HDG_RATE: {
+     562         182 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     563         182 :       break;
+     564             :     }
+     565             : 
+     566         330 :     case common::ACCELERATION_HDG: {
+     567         330 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     568         330 :       break;
+     569             :     }
+     570             : 
+     571         361 :     case common::ACCELERATION_HDG_RATE: {
+     572         361 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     573         361 :       break;
+     574             :     }
+     575             : 
+     576         761 :     case common::ATTITUDE: {
+     577         761 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE);
+     578         761 :       break;
+     579             :     }
+     580             : 
+     581        4284 :     case common::ATTITUDE_RATE: {
+     582        4284 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     583        4284 :       break;
+     584             :     }
+     585             : 
+     586        1256 :     case common::CONTROL_GROUP: {
+     587        1256 :       SE3Controller(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     588        1256 :       break;
+     589             :     }
+     590             : 
+     591        1441 :     case common::ACTUATORS_CMD: {
+     592        1441 :       SE3Controller(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     593        1441 :       break;
+     594             :     }
+     595             : 
+     596        8980 :     default: {
+     597             :     }
+     598             :   }
+     599             : 
+     600        8980 :   return last_control_output_;
+     601             : }
+     602             : 
+     603             : //}
+     604             : 
+     605             : /* //{ getStatus() */
+     606             : 
+     607         739 : const mrs_msgs::ControllerStatus Se3Controller::getStatus() {
+     608             : 
+     609         739 :   mrs_msgs::ControllerStatus controller_status;
+     610             : 
+     611         739 :   controller_status.active = is_active_;
+     612             : 
+     613         739 :   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         189 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr Se3Controller::setConstraints([
+     674             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+     675             : 
+     676         189 :   if (!is_initialized_) {
+     677           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     678             :   }
+     679             : 
+     680         189 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     681             : 
+     682         189 :   ROS_INFO("[Se3Controller]: updating constraints");
+     683             : 
+     684         378 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     685         189 :   res.success = true;
+     686         189 :   res.message = "constraints updated";
+     687             : 
+     688         189 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     689             : }
+     690             : 
+     691             : //}
+     692             : 
+     693             : // --------------------------------------------------------------
+     694             : // |                         controllers                        |
+     695             : // --------------------------------------------------------------
+     696             : 
+     697             : /* SE3Controller() //{ */
+     698             : 
+     699        8433 : 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       16866 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     703        8433 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     704        8433 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     705             : 
+     706             :   // | ----------------- get the current heading ---------------- |
+     707             : 
+     708        8433 :   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        8433 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     719        8433 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     720        8433 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     721             : 
+     722        8433 :   if (tracker_command.use_position_vertical || tracker_command.use_position_horizontal) {
+     723             : 
+     724        8433 :     if (tracker_command.use_position_horizontal) {
+     725        8433 :       Rp[0] = tracker_command.position.x;
+     726        8433 :       Rp[1] = tracker_command.position.y;
+     727             :     } else {
+     728           0 :       Rv[0] = 0;
+     729           0 :       Rv[1] = 0;
+     730             :     }
+     731             : 
+     732        8433 :     if (tracker_command.use_position_vertical) {
+     733        8433 :       Rp[2] = tracker_command.position.z;
+     734             :     } else {
+     735           0 :       Rv[2] = 0;
+     736             :     }
+     737             :   }
+     738             : 
+     739        8433 :   if (tracker_command.use_velocity_horizontal) {
+     740        8433 :     Rv[0] = tracker_command.velocity.x;
+     741        8433 :     Rv[1] = tracker_command.velocity.y;
+     742             :   } else {
+     743           0 :     Rv[0] = 0;
+     744           0 :     Rv[1] = 0;
+     745             :   }
+     746             : 
+     747        8433 :   if (tracker_command.use_velocity_vertical) {
+     748        8433 :     Rv[2] = tracker_command.velocity.z;
+     749             :   } else {
+     750           0 :     Rv[2] = 0;
+     751             :   }
+     752             : 
+     753        8433 :   if (tracker_command.use_acceleration) {
+     754        8432 :     Ra << tracker_command.acceleration.x, tracker_command.acceleration.y, tracker_command.acceleration.z;
+     755             :   } else {
+     756           1 :     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        8433 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     764        8433 :   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        8433 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     768             : 
+     769             :   // Ow - UAV angular rate
+     770        8433 :   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        8433 :   Eigen::Vector3d Ep(0, 0, 0);
+     776             : 
+     777        8433 :   if (tracker_command.use_position_horizontal || tracker_command.use_position_vertical) {
+     778        8433 :     Ep = Rp - Op;
+     779             :   }
+     780             : 
+     781             :   // velocity control error
+     782        8433 :   Eigen::Vector3d Ev(0, 0, 0);
+     783             : 
+     784        8433 :   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        8433 :     Ev = Rv - Ov;
+     787             :   }
+     788             : 
+     789             :   // | --------------------- load the gains --------------------- |
+     790             : 
+     791        8433 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+     792             : 
+     793        8433 :   Eigen::Vector3d Ka(0, 0, 0);
+     794        8433 :   Eigen::Array3d  Kp(0, 0, 0);
+     795        8433 :   Eigen::Array3d  Kv(0, 0, 0);
+     796        8433 :   Eigen::Array3d  Kq(0, 0, 0);
+     797        8433 :   Eigen::Array3d  Kw(0, 0, 0);
+     798             : 
+     799             :   {
+     800        8433 :     std::scoped_lock lock(mutex_gains_);
+     801             : 
+     802        8433 :     if (tracker_command.use_position_horizontal) {
+     803        8433 :       Kp[0] = gains.kpxy;
+     804        8433 :       Kp[1] = gains.kpxy;
+     805             :     } else {
+     806           0 :       Kp[0] = 0;
+     807           0 :       Kp[1] = 0;
+     808             :     }
+     809             : 
+     810        8433 :     if (tracker_command.use_position_vertical) {
+     811        8433 :       Kp[2] = gains.kpz;
+     812             :     } else {
+     813           0 :       Kp[2] = 0;
+     814             :     }
+     815             : 
+     816        8433 :     if (tracker_command.use_velocity_horizontal) {
+     817        8433 :       Kv[0] = gains.kvxy;
+     818        8433 :       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        8433 :     if (tracker_command.use_velocity_vertical || tracker_command.use_position_vertical) {
+     826        8433 :       Kv[2] = gains.kvz;
+     827             :     } else {
+     828           0 :       Kv[2] = 0;
+     829             :     }
+     830             : 
+     831        8433 :     if (tracker_command.use_acceleration) {
+     832        8432 :       Ka << gains.kaxy, gains.kaxy, gains.kaz;
+     833             :     } else {
+     834           1 :       Ka << 0, 0, 0;
+     835             :     }
+     836             : 
+     837        8433 :     if (!tracker_command.use_attitude_rate) {
+     838        8433 :       Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+     839             :     }
+     840             : 
+     841        8433 :     Kw[0] = gains.kw_roll_pitch;
+     842        8433 :     Kw[1] = gains.kw_roll_pitch;
+     843        8433 :     Kw[2] = gains.kw_yaw;
+     844             :   }
+     845             : 
+     846        8433 :   Kp = Kp * (_uav_mass_ + uav_mass_difference_);
+     847        8433 :   Kv = Kv * (_uav_mass_ + uav_mass_difference_);
+     848             : 
+     849             :   // | --------------- desired orientation matrix --------------- |
+     850             : 
+     851             :   // get body integral in the world frame
+     852             : 
+     853        8433 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+     854             : 
+     855             :   {
+     856       16866 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+     857             : 
+     858        8433 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+     859        8433 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+     860        8433 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+     861        8433 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+     862        8433 :     Ib_b_stamped.vector.z        = 0;
+     863             : 
+     864       16866 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+     865             : 
+     866        8433 :     if (res) {
+     867        8433 :       Ib_w[0] = res.value().vector.x;
+     868        8433 :       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        8433 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+     877             : 
+     878        8433 :   Eigen::Vector3d feed_forward      = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+     879        8433 :   Eigen::Vector3d position_feedback = Kp * Ep.array();
+     880        8433 :   Eigen::Vector3d velocity_feedback = Kv * Ev.array();
+     881        8433 :   Eigen::Vector3d integral_feedback;
+     882             :   {
+     883        8433 :     std::scoped_lock lock(mutex_integrals_);
+     884             : 
+     885        8433 :     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       16866 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+     900             : 
+     901        8433 :     Eigen::Vector3d integration_switch(1, 1, 0);
+     902             : 
+     903             :     // integrate the world error
+     904        8433 :     if (tracker_command.use_position_horizontal) {
+     905        8433 :       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        8433 :     bool world_integral_saturated = false;
+     912        8433 :     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        8433 :     } else if (Iw_w_[0] > gains.kiwxy_lim) {
+     916           0 :       Iw_w_[0]                 = gains.kiwxy_lim;
+     917           0 :       world_integral_saturated = true;
+     918        8433 :     } 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        8433 :     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        8433 :     world_integral_saturated = false;
+     929        8433 :     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        8433 :     } else if (Iw_w_[1] > gains.kiwxy_lim) {
+     933           0 :       Iw_w_[1]                 = gains.kiwxy_lim;
+     934           0 :       world_integral_saturated = true;
+     935        8433 :     } 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        8433 :     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       16866 :     std::scoped_lock lock(mutex_gains_);
+     955             : 
+     956        8433 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+     957        8433 :     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       16866 :       geometry_msgs::Vector3Stamped Ep_stamped;
+     963             : 
+     964        8433 :       Ep_stamped.header.stamp    = ros::Time::now();
+     965        8433 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+     966        8433 :       Ep_stamped.vector.x        = Ep(0);
+     967        8433 :       Ep_stamped.vector.y        = Ep(1);
+     968        8433 :       Ep_stamped.vector.z        = Ep(2);
+     969             : 
+     970       25299 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+     971             : 
+     972        8433 :       if (res) {
+     973        8433 :         Ep_fcu_untilted[0] = res.value().vector.x;
+     974        8433 :         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       16866 :       geometry_msgs::Vector3Stamped Ev_stamped;
+     983             : 
+     984        8433 :       Ev_stamped.header.stamp    = ros::Time::now();
+     985        8433 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+     986        8433 :       Ev_stamped.vector.x        = Ev(0);
+     987        8433 :       Ev_stamped.vector.y        = Ev(1);
+     988        8433 :       Ev_stamped.vector.z        = Ev(2);
+     989             : 
+     990       25299 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+     991             : 
+     992        8433 :       if (res) {
+     993        8433 :         Ev_fcu_untilted[0] = res.value().vector.x;
+     994        8433 :         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        8433 :     if (tracker_command.use_position_horizontal) {
+    1002        8433 :       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        8433 :     bool body_integral_saturated = false;
+    1009        8433 :     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        8433 :     } else if (Ib_b_[0] > gains.kibxy_lim) {
+    1013           0 :       Ib_b_[0]                = gains.kibxy_lim;
+    1014           0 :       body_integral_saturated = true;
+    1015        8433 :     } 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        8433 :     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        8433 :     body_integral_saturated = false;
+    1026        8433 :     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        8433 :     } else if (Ib_b_[1] > gains.kibxy_lim) {
+    1030           0 :       Ib_b_[1]                = gains.kibxy_lim;
+    1031           0 :       body_integral_saturated = true;
+    1032        8433 :     } 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        8433 :     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        8433 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1045             : 
+    1046         691 :     Eigen::Vector3d des_acc = (position_feedback + velocity_feedback + integral_feedback) / total_mass + Ra;
+    1047             : 
+    1048         691 :     if (output_modality == common::ACCELERATION_HDG) {
+    1049             : 
+    1050         660 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1051             : 
+    1052         330 :       cmd.acceleration.x = des_acc[0];
+    1053         330 :       cmd.acceleration.y = des_acc[1];
+    1054         330 :       cmd.acceleration.z = des_acc[2];
+    1055             : 
+    1056         330 :       cmd.heading = tracker_command.heading;
+    1057             : 
+    1058         330 :       last_control_output_.control_output = cmd;
+    1059             : 
+    1060             :     } else {
+    1061             : 
+    1062         361 :       double des_hdg_ff = 0;
+    1063             : 
+    1064         361 :       if (tracker_command.use_heading_rate) {
+    1065         361 :         des_hdg_ff = tracker_command.heading_rate;
+    1066             :       }
+    1067             : 
+    1068         722 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1069             : 
+    1070         361 :       cmd.acceleration.x = des_acc[0];
+    1071         361 :       cmd.acceleration.y = des_acc[1];
+    1072         361 :       cmd.acceleration.z = des_acc[2];
+    1073             : 
+    1074         361 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1075             : 
+    1076         361 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1077             : 
+    1078         361 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1079             : 
+    1080         361 :       cmd.heading_rate = des_hdg_rate;
+    1081             : 
+    1082         361 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1083             : 
+    1084         361 :       last_control_output_.control_output = cmd;
+    1085             :     }
+    1086             : 
+    1087             :     // | -------------- unbiased desired acceleration ------------- |
+    1088             : 
+    1089         691 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1090             : 
+    1091             :     {
+    1092             : 
+    1093         691 :       Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1094             : 
+    1095        1382 :       geometry_msgs::Vector3Stamped world_accel;
+    1096             : 
+    1097         691 :       world_accel.header.stamp    = ros::Time::now();
+    1098         691 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1099         691 :       world_accel.vector.x        = unbiased_des_acc_world[0];
+    1100         691 :       world_accel.vector.y        = unbiased_des_acc_world[1];
+    1101         691 :       world_accel.vector.z        = unbiased_des_acc_world[2];
+    1102             : 
+    1103        2073 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1104             : 
+    1105         691 :       if (res) {
+    1106         691 :         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         691 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1112             : 
+    1113             :     // | ----------------- fill in the diagnostics ---------------- |
+    1114             : 
+    1115         691 :     last_control_output_.diagnostics.ramping_up = false;
+    1116             : 
+    1117         691 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1118         691 :     last_control_output_.diagnostics.mass_difference = 0;
+    1119         691 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1120             : 
+    1121         691 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1122             : 
+    1123         691 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1124         691 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1125             : 
+    1126         691 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1127         691 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1128             : 
+    1129         691 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1130         691 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1131             : 
+    1132         691 :     last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1133             : 
+    1134         691 :     last_control_output_.diagnostics.controller = "Se3Controller";
+    1135             : 
+    1136         691 :     return;
+    1137             :   }
+    1138             : 
+    1139             :   /* mass estimatior //{ */
+    1140             : 
+    1141             :   // --------------------------------------------------------------
+    1142             :   // |                integrate the mass difference               |
+    1143             :   // --------------------------------------------------------------
+    1144             : 
+    1145             :   {
+    1146       15484 :     std::scoped_lock lock(mutex_gains_);
+    1147             : 
+    1148        7742 :     if (tracker_command.use_position_vertical && !rampup_active_) {
+    1149        7734 :       uav_mass_difference_ += gains.km * Ep[2] * dt;
+    1150             :     }
+    1151             : 
+    1152             :     // saturate the mass estimator
+    1153        7742 :     bool uav_mass_saturated = false;
+    1154        7742 :     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        7742 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1158           0 :       uav_mass_difference_ = gains.km_lim;
+    1159           0 :       uav_mass_saturated   = true;
+    1160        7742 :     } 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        7742 :     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        7742 :   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        7742 :   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        7742 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1188             : 
+    1189        7742 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "Se3Controller");
+    1190             : 
+    1191        7742 :   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        7742 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1205             : 
+    1206             :   // --------------------------------------------------------------
+    1207             :   // |               desired orientation + throttle               |
+    1208             :   // --------------------------------------------------------------
+    1209             : 
+    1210             :   // | ------------------- desired orientation ------------------ |
+    1211             : 
+    1212        7742 :   Eigen::Matrix3d Rd;
+    1213             : 
+    1214        7742 :   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        7742 :     Eigen::Vector3d bxd;  // desired heading vector
+    1231             : 
+    1232        7742 :     if (tracker_command.use_heading) {
+    1233        7742 :       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        7742 :     Rd = common::so3transform(f_normed, bxd, drs_params.rotation_type == 1);
+    1240             :   }
+    1241             : 
+    1242             :   // | -------------------- desired throttle -------------------- |
+    1243             : 
+    1244        7742 :   double desired_thrust_force = f.dot(R.col(2));
+    1245        7742 :   double throttle             = 0;
+    1246             : 
+    1247        7742 :   if (tracker_command.use_throttle) {
+    1248             : 
+    1249             :     // the throttle is overriden from the tracker command
+    1250           0 :     throttle = tracker_command.throttle;
+    1251             : 
+    1252        7742 :   } else if (rampup_active_) {
+    1253             : 
+    1254             :     // deactivate the rampup when the times up
+    1255           8 :     if (fabs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1256             : 
+    1257           8 :       rampup_active_ = false;
+    1258             : 
+    1259           8 :       ROS_INFO("[Se3Controller]: rampup finished");
+    1260             : 
+    1261             :     } else {
+    1262             : 
+    1263           0 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1264             : 
+    1265           0 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1266             : 
+    1267           0 :       rampup_last_time_ = ros::Time::now();
+    1268             : 
+    1269           0 :       throttle = rampup_throttle_;
+    1270             : 
+    1271           0 :       ROS_INFO_THROTTLE(0.1, "[Se3Controller]: ramping up throttle, %.4f", throttle);
+    1272             :     }
+    1273             : 
+    1274             :   } else {
+    1275             : 
+    1276        7734 :     if (desired_thrust_force >= 0) {
+    1277        7734 :       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        7742 :   bool throttle_saturated = false;
+    1286             : 
+    1287        7742 :   if (!std::isfinite(throttle)) {
+    1288             : 
+    1289           0 :     ROS_ERROR("[Se3Controller]: NaN detected in variable 'throttle'!!!");
+    1290           0 :     return;
+    1291             : 
+    1292        7742 :   } 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        7742 :   } 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        7742 :   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        7742 :   Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1321             : 
+    1322             :   {
+    1323        7742 :     Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1324             : 
+    1325       15484 :     geometry_msgs::Vector3Stamped world_accel;
+    1326             : 
+    1327        7742 :     world_accel.header.stamp    = ros::Time::now();
+    1328        7742 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1329        7742 :     world_accel.vector.x        = unbiased_des_acc_world[0];
+    1330        7742 :     world_accel.vector.y        = unbiased_des_acc_world[1];
+    1331        7742 :     world_accel.vector.z        = unbiased_des_acc_world[2];
+    1332             : 
+    1333       23226 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1334             : 
+    1335        7742 :     if (res) {
+    1336        7742 :       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        7742 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1344             : 
+    1345             :   // fill the unbiased desired accelerations
+    1346        7742 :   last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1347             : 
+    1348             :   // | ----------------- fill in the diagnostics ---------------- |
+    1349             : 
+    1350        7742 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1351             : 
+    1352        7742 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1353        7742 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1354        7742 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1355             : 
+    1356        7742 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1357             : 
+    1358        7742 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1359        7742 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1360             : 
+    1361        7742 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1362        7742 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1363             : 
+    1364        7742 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1365        7742 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1366             : 
+    1367        7742 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1368             : 
+    1369        7742 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1370             : 
+    1371             :   // | ------------ construct the attitude reference ------------ |
+    1372             : 
+    1373        7742 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1374             : 
+    1375        7742 :   attitude_cmd.stamp       = ros::Time::now();
+    1376        7742 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1377        7742 :   attitude_cmd.throttle    = throttle;
+    1378             : 
+    1379        7742 :   if (output_modality == common::ATTITUDE) {
+    1380             : 
+    1381         761 :     last_control_output_.control_output = attitude_cmd;
+    1382             : 
+    1383         761 :     return;
+    1384             :   }
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                      attitude control                      |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390        6981 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1391             : 
+    1392        6981 :   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        6981 :   } else if (tracker_command.use_heading_rate) {
+    1397             : 
+    1398             :     // to fill in the feed forward yaw rate
+    1399        6980 :     double desired_yaw_rate = 0;
+    1400             : 
+    1401             :     try {
+    1402        6980 :       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        6980 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1409             :   }
+    1410             : 
+    1411             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1412             : 
+    1413        6981 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1414             : 
+    1415        6981 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1416             : 
+    1417        6972 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: using jerk feedforward");
+    1418             : 
+    1419        6972 :     Eigen::Matrix3d I;
+    1420        6972 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1421        6972 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1422        6972 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1423             :   }
+    1424             : 
+    1425             :   // | --------------- run the attitude controller -------------- |
+    1426             : 
+    1427        6981 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1428             : 
+    1429        6981 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq,
+    1430       13962 :                                                           drs_params.pitch_roll_heading_rate_compensation);
+    1431             : 
+    1432        6981 :   if (!attitude_rate_command) {
+    1433           0 :     return;
+    1434             :   }
+    1435             : 
+    1436             :   // | --------- fill in the already known attitude rate -------- |
+    1437             : 
+    1438             :   {
+    1439             :     try {
+    1440        6981 :       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        6981 :   if (output_modality == common::ATTITUDE_RATE) {
+    1449             : 
+    1450        4284 :     last_control_output_.control_output = attitude_rate_command;
+    1451             : 
+    1452        4284 :     return;
+    1453             :   }
+    1454             : 
+    1455             :   // --------------------------------------------------------------
+    1456             :   // |                    Attitude rate control                   |
+    1457             :   // --------------------------------------------------------------
+    1458             : 
+    1459        2697 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1460             : 
+    1461        2697 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1462             : 
+    1463        2697 :   if (!control_group_command) {
+    1464           0 :     return;
+    1465             :   }
+    1466             : 
+    1467        2697 :   if (output_modality == common::CONTROL_GROUP) {
+    1468             : 
+    1469        1256 :     last_control_output_.control_output = control_group_command;
+    1470             : 
+    1471        1256 :     return;
+    1472             :   }
+    1473             : 
+    1474             :   // --------------------------------------------------------------
+    1475             :   // |                        output mixer                        |
+    1476             :   // --------------------------------------------------------------
+    1477             : 
+    1478        2882 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1479             : 
+    1480        1441 :   last_control_output_.control_output = actuator_cmd;
+    1481             : 
+    1482        1441 :   return;
+    1483             : }
+    1484             : 
+    1485             : //}
+    1486             : 
+    1487             : /* positionPassthrough() //{ */
+    1488             : 
+    1489         182 : void Se3Controller::positionPassthrough(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1490             : 
+    1491         182 :   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         364 :   mrs_msgs::HwApiPositionCmd cmd;
+    1497             : 
+    1498         182 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1499         182 :   cmd.header.stamp    = ros::Time::now();
+    1500             : 
+    1501         182 :   cmd.position = tracker_command.position;
+    1502         182 :   cmd.heading  = tracker_command.heading;
+    1503             : 
+    1504         182 :   last_control_output_.control_output = cmd;
+    1505             : 
+    1506             :   // fill the unbiased desired accelerations
+    1507         182 :   last_control_output_.desired_unbiased_acceleration = {};
+    1508         182 :   last_control_output_.desired_orientation           = {};
+    1509         182 :   last_control_output_.desired_heading_rate          = {};
+    1510             : 
+    1511             :   // | ----------------- fill in the diagnostics ---------------- |
+    1512             : 
+    1513         182 :   last_control_output_.diagnostics.ramping_up = false;
+    1514             : 
+    1515         182 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1516         182 :   last_control_output_.diagnostics.mass_difference = 0;
+    1517             : 
+    1518         182 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1519             : 
+    1520         182 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1521         182 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1522             : 
+    1523         182 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1524         182 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1525             : 
+    1526         182 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1527         182 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1528             : 
+    1529         182 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1530             : 
+    1531         182 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1532             : }
+    1533             : 
+    1534             : //}
+    1535             : 
+    1536             : /* PIDVelocityOutput() //{ */
+    1537             : 
+    1538         365 : 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         365 :   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         365 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1547         365 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1548             : 
+    1549         365 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1550         365 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1551             : 
+    1552         365 :   double hdg_ref = tracker_command.heading;
+    1553         365 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1554             : 
+    1555             :   // | ------------------ velocity feedforward ------------------ |
+    1556             : 
+    1557         365 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1558             : 
+    1559         365 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1560         365 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1561             :   }
+    1562             : 
+    1563             :   // | -------------------------- gains ------------------------- |
+    1564             : 
+    1565         365 :   Eigen::Vector3d Kp;
+    1566             : 
+    1567             :   {
+    1568         365 :     std::scoped_lock lock(mutex_gains_);
+    1569             : 
+    1570         365 :     Kp << gains.kpxy, gains.kpxy, gains.kpz;
+    1571             :   }
+    1572             : 
+    1573             :   // | --------------------- control errors --------------------- |
+    1574             : 
+    1575         365 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1576             : 
+    1577             :   // | --------------------------- pid -------------------------- |
+    1578             : 
+    1579         365 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1580         365 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1581         365 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1582             : 
+    1583         365 :   double des_vel_x = position_pid_x_.update(Ep[0], dt);
+    1584         365 :   double des_vel_y = position_pid_y_.update(Ep[1], dt);
+    1585         365 :   double des_vel_z = position_pid_z_.update(Ep[2], dt);
+    1586             : 
+    1587             :   // | -------------------- position feedback ------------------- |
+    1588             : 
+    1589         365 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1590             : 
+    1591         365 :   if (control_output == common::VELOCITY_HDG) {
+    1592             : 
+    1593             :     // | --------------------- fill the output -------------------- |
+    1594             : 
+    1595         366 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1596             : 
+    1597         183 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1598         183 :     cmd.header.stamp    = ros::Time::now();
+    1599             : 
+    1600         183 :     cmd.velocity.x = des_vel[0];
+    1601         183 :     cmd.velocity.y = des_vel[1];
+    1602         183 :     cmd.velocity.z = des_vel[2];
+    1603             : 
+    1604         183 :     cmd.heading = tracker_command.heading;
+    1605             : 
+    1606         183 :     last_control_output_.control_output = cmd;
+    1607             : 
+    1608         182 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1609             : 
+    1610         182 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1611             : 
+    1612         182 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1613             : 
+    1614         182 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1615             : 
+    1616             :     // | --------------------------- ff --------------------------- |
+    1617             : 
+    1618         182 :     double des_hdg_ff = 0;
+    1619             : 
+    1620         182 :     if (tracker_command.use_heading_rate) {
+    1621         182 :       des_hdg_ff = tracker_command.heading_rate;
+    1622             :     }
+    1623             : 
+    1624             :     // | --------------------- fill the output -------------------- |
+    1625             : 
+    1626         364 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1627             : 
+    1628         182 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1629         182 :     cmd.header.stamp    = ros::Time::now();
+    1630             : 
+    1631         182 :     cmd.velocity.x = des_vel[0];
+    1632         182 :     cmd.velocity.y = des_vel[1];
+    1633         182 :     cmd.velocity.z = des_vel[2];
+    1634             : 
+    1635         182 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1636             : 
+    1637         182 :     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         365 :   last_control_output_.desired_unbiased_acceleration = {};
+    1646         365 :   last_control_output_.desired_orientation           = {};
+    1647         365 :   last_control_output_.desired_heading_rate          = {};
+    1648             : 
+    1649             :   // | ----------------- fill in the diagnostics ---------------- |
+    1650             : 
+    1651         365 :   last_control_output_.diagnostics.ramping_up = false;
+    1652             : 
+    1653         365 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1654         365 :   last_control_output_.diagnostics.mass_difference = 0;
+    1655             : 
+    1656         365 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1657             : 
+    1658         365 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1659         365 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1660             : 
+    1661         365 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1662         365 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1663             : 
+    1664         365 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1665         365 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1666             : 
+    1667         365 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1668             : 
+    1669         365 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1670             : }
+    1671             : 
+    1672             : //}
+    1673             : 
+    1674             : // --------------------------------------------------------------
+    1675             : // |                          callbacks                         |
+    1676             : 
+    1677             : 
+    1678             : /* //{ callbackDrs() */
+    1679             : 
+    1680          94 : void Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig& config, [[maybe_unused]] uint32_t level) {
+    1681             : 
+    1682          94 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1683             : 
+    1684          94 :   ROS_INFO("[Se3Controller]: DRS updated gains");
+    1685          94 : }
+    1686             : 
+    1687             : //}
+    1688             : 
+    1689             : // --------------------------------------------------------------
+    1690             : // |                           timers                           |
+    1691             : // --------------------------------------------------------------
+    1692             : 
+    1693             : /* timerGains() //{ */
+    1694             : 
+    1695        1144 : void Se3Controller::timerGains(const ros::TimerEvent& event) {
+    1696             : 
+    1697        3432 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1698             :   mrs_lib::ScopeTimer timer =
+    1699        3432 :       mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1700             : 
+    1701        2288 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1702        1144 :   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        1144 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    1707        1144 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    1708             : 
+    1709        1144 :   mute_gains_ = false;
+    1710             : 
+    1711        1144 :   const double dt = (event.current_real - event.last_real).toSec();
+    1712             : 
+    1713        1144 :   bool updated = false;
+    1714             : 
+    1715        1144 :   gains.kpxy          = calculateGainChange(dt, gains.kpxy, drs_params.kpxy * gain_coeff, bypass_filter, "kpxy", updated);
+    1716        1144 :   gains.kvxy          = calculateGainChange(dt, gains.kvxy, drs_params.kvxy * gain_coeff, bypass_filter, "kvxy", updated);
+    1717        1144 :   gains.kaxy          = calculateGainChange(dt, gains.kaxy, drs_params.kaxy * gain_coeff, bypass_filter, "kaxy", updated);
+    1718        1144 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    1719        1144 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    1720        1144 :   gains.kpz           = calculateGainChange(dt, gains.kpz, drs_params.kpz * gain_coeff, bypass_filter, "kpz", updated);
+    1721        1144 :   gains.kvz           = calculateGainChange(dt, gains.kvz, drs_params.kvz * gain_coeff, bypass_filter, "kvz", updated);
+    1722        1144 :   gains.kaz           = calculateGainChange(dt, gains.kaz, drs_params.kaz * gain_coeff, bypass_filter, "kaz", updated);
+    1723        1144 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    1724        1144 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    1725        1144 :   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        1144 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    1729        1144 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    1730        1144 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    1731             : 
+    1732        1144 :   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        1144 :   if (updated) {
+    1737             : 
+    1738         117 :     drs_params.kpxy          = gains.kpxy;
+    1739         117 :     drs_params.kvxy          = gains.kvxy;
+    1740         117 :     drs_params.kaxy          = gains.kaxy;
+    1741         117 :     drs_params.kiwxy         = gains.kiwxy;
+    1742         117 :     drs_params.kibxy         = gains.kibxy;
+    1743         117 :     drs_params.kpz           = gains.kpz;
+    1744         117 :     drs_params.kvz           = gains.kvz;
+    1745         117 :     drs_params.kaz           = gains.kaz;
+    1746         117 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    1747         117 :     drs_params.kq_yaw        = gains.kq_yaw;
+    1748         117 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    1749         117 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    1750         117 :     drs_params.km            = gains.km;
+    1751         117 :     drs_params.km_lim        = gains.km_lim;
+    1752             : 
+    1753         117 :     drs_->updateConfig(drs_params);
+    1754             : 
+    1755         117 :     ROS_INFO_THROTTLE(10.0, "[Se3Controller]: gains have been updated");
+    1756             :   }
+    1757        1144 : }
+    1758             : 
+    1759             : //}
+    1760             : 
+    1761             : // --------------------------------------------------------------
+    1762             : // |                       other routines                       |
+    1763             : // --------------------------------------------------------------
+    1764             : 
+    1765             : /* calculateGainChange() //{ */
+    1766             : 
+    1767       16016 : 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       16016 :   double change = desired_value - current_value;
+    1771             : 
+    1772       16016 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    1773       16016 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    1774             : 
+    1775       16016 :   if (!bypass_rate) {
+    1776             : 
+    1777             :     // if current value is near 0...
+    1778             :     double change_in_perc;
+    1779             :     double saturated_change;
+    1780             : 
+    1781       15873 :     if (fabs(current_value) < 1e-6) {
+    1782           0 :       change *= gains_filter_max_change;
+    1783             :     } else {
+    1784             : 
+    1785       15873 :       saturated_change = change;
+    1786             : 
+    1787       15873 :       change_in_perc = (current_value + saturated_change) / current_value - 1.0;
+    1788             : 
+    1789       15873 :       if (change_in_perc > gains_filter_max_change) {
+    1790        1001 :         saturated_change = current_value * gains_filter_max_change;
+    1791       14872 :       } else if (change_in_perc < -gains_filter_max_change) {
+    1792          21 :         saturated_change = current_value * -gains_filter_max_change;
+    1793             :       }
+    1794             : 
+    1795       15873 :       if (fabs(saturated_change) < fabs(change) * gains_filter_min_change) {
+    1796          13 :         change *= gains_filter_min_change;
+    1797             :       } else {
+    1798       15860 :         change = saturated_change;
+    1799             :       }
+    1800             :     }
+    1801             :   }
+    1802             : 
+    1803       16016 :   if (fabs(change) > 1e-3) {
+    1804        1308 :     ROS_DEBUG("[Se3Controller]: changing gain '%s' from %.2f to %.2f", name.c_str(), current_value, desired_value);
+    1805        1308 :     updated = true;
+    1806             :   }
+    1807             : 
+    1808       16016 :   return current_value + change;
+    1809             : }
+    1810             : 
+    1811             : //}
+    1812             : 
+    1813             : /* getHeadingSafely() //{ */
+    1814             : 
+    1815        8798 : double Se3Controller::getHeadingSafely(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1816             : 
+    1817             :   try {
+    1818        8798 :     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          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::se3_controller::Se3Controller, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:1010100.0 %
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:1010100.0 %
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LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:1010100.0 %
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:1010100.0 %
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100.0%
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:1010100.0 %
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:1010100.0 %
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Function Name Sort by function nameHit count Sort by hit count
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)366
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)511
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)514
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)871
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)891
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)2762
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2956
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)3204
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)23149
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)35224
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:1010100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)35224
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2956
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)3204
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)366
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)511
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)23149
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)2762
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)871
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)514
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)891
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:1010100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef CONTROL_MANAGER_OUTPUT_PUBLISHER
+       2             : #define CONTROL_MANAGER_OUTPUT_PUBLISHER
+       3             : 
+       4             : #include <mrs_lib/publisher_handler.h>
+       5             : 
+       6             : #include <mrs_uav_managers/controller.h>
+       7             : 
+       8             : namespace mrs_uav_managers
+       9             : {
+      10             : 
+      11             : namespace control_manager
+      12             : {
+      13             : 
+      14             : class OutputPublisher {
+      15             : 
+      16             : public:
+      17             :   OutputPublisher();
+      18             : 
+      19             :   OutputPublisher(ros::NodeHandle& nh);
+      20             : 
+      21             :   void publish(const Controller::HwApiOutputVariant& control_output);
+      22             : 
+      23             : private:
+      24             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>            ph_hw_api_actuator_cmd_;
+      25             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>        ph_hw_api_control_group_cmd_;
+      26             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>        ph_hw_api_attitude_rate_cmd_;
+      27             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>            ph_hw_api_attitude_cmd_;
+      28             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd> ph_hw_api_acceleration_hdg_rate_cmd_;
+      29             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>     ph_hw_api_acceleration_hdg_cmd_;
+      30             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>     ph_hw_api_velocity_hdg_rate_cmd_;
+      31             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>         ph_hw_api_velocity_hdg_cmd_;
+      32             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>            ph_hw_api_position_cmd_;
+      33             : 
+      34             :   void publish(const mrs_msgs::HwApiActuatorCmd& msg);
+      35             :   void publish(const mrs_msgs::HwApiControlGroupCmd& msg);
+      36             :   void publish(const mrs_msgs::HwApiAttitudeRateCmd& msg);
+      37             :   void publish(const mrs_msgs::HwApiAttitudeCmd& msg);
+      38             :   void publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg);
+      39             :   void publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg);
+      40             :   void publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg);
+      41             :   void publish(const mrs_msgs::HwApiVelocityHdgCmd& msg);
+      42             :   void publish(const mrs_msgs::HwApiPositionCmd& msg);
+      43             : 
+      44             :   class PublisherVisitor {
+      45             : 
+      46             :   public:
+      47       35224 :     PublisherVisitor(OutputPublisher* obj) : obj_(obj){};
+      48             : 
+      49             :     OutputPublisher* obj_;
+      50             : 
+      51             :     template <class T>
+      52       35224 :     void operator()(const T& msg) {
+      53       35224 :       obj_->publish(msg);
+      54       35224 :     }
+      55             :   };
+      56             : };
+      57             : 
+      58             : }  // namespace control_manager
+      59             : 
+      60             : }  // namespace mrs_uav_managers
+      61             : 
+      62             : #endif  //  CONTROL_MANAGER_OUTPUT_PUBLISHER
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.overview.html b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.overview.html new file mode 100644 index 0000000000..09b263e5e1 --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.overview.html @@ -0,0 +1,36 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

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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 + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions: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&)40
mrs_uav_managers::AglEstimator::~AglEstimator().240
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions: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&)40
mrs_uav_managers::AglEstimator::~AglEstimator()0
mrs_uav_managers::AglEstimator::~AglEstimator().240
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.frameset.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..ca31d3043e --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.html new file mode 100644 index 0000000000..dc77e1a645 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.html @@ -0,0 +1,157 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions: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          40 :   AglEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      55          40 :       : Estimator(agl::type, name, frame_id), package_name_(package_name) {
+      56          40 :   }
+      57             : 
+      58          40 :   virtual ~AglEstimator(void) {
+      59          40 :   }
+      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
+
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+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..21f3af39aa --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html @@ -0,0 +1,39 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.png b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d88c3428e27de2da87a77f1e9b45246bce5c1009 GIT binary patch literal 397 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1@!VDxMp6xjcq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?X?_wfUqO7#O8JT^vI^I**2N^Bq>;m@551^bPNq zf9122k3Q-bES1dkxxB~jU(@G%i}R249^oF@8-^V(Ynvcr7WJ?T*XcTjST)6V%To!AaM zVduIYRMU7w<@9e;50Qhsq7K!Y7H0fOOAcJ-FL2X1>-ZLKhy8pP p#LM#zrZ}!(zhtL;GxNsIIKPIdz%zeOxB$bB!PC{xWt~$(697r3r%?a^ literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html new file mode 100644 index 0000000000..3dd6fbe96e --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html @@ -0,0 +1,188 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/control_manager - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:599661.5 %
Date:2023-12-06 10:06:33Functions:212777.8 %
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::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::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)1
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)2
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&)366
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)366
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&)511
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&)514
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)634
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)641
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&)871
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&)891
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1001
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1011
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)2295
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&)2762
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)2893
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&)2955
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3083
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&)3202
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)4730
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&)20854
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)23293
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func.html new file mode 100644 index 0000000000..b1aab8e432 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func.html @@ -0,0 +1,188 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers/control_manager - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:599661.5 %
Date:2023-12-06 10:06:33Functions:212777.8 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2955
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&)3202
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&)366
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&)511
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&)20854
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&)2762
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&)871
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&)514
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&)891
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)1
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)2
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&)2295
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&)3083
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)4730
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)366
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)634
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)23293
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)2893
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1001
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)641
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1011
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.frameset.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.frameset.html new file mode 100644 index 0000000000..20a444da4e --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.html new file mode 100644 index 0000000000..2d0476b1c9 --- /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:599661.5 %
Date:2023-12-06 10:06:33Functions:212777.8 %
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        3083 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      82             : 
+      83        3083 :     if (msg.motors.size() == 0) {
+      84           0 :       return std::nullopt;
+      85             :     }
+      86             : 
+      87        3083 :     double throttle = 0;
+      88             : 
+      89       15415 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      90       12332 :       throttle += msg.motors[i];
+      91             :     };
+      92             : 
+      93        3083 :     throttle /= msg.motors.size();
+      94             : 
+      95        3083 :     return throttle;
+      96             :   }
+      97        2893 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      98        2893 :     return msg.throttle;
+      99             :   }
+     100        4730 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+     101        4730 :     return msg.throttle;
+     102             :   }
+     103       23293 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+     104       23293 :     return msg.throttle;
+     105             :   }
+     106        1011 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+     107        1011 :     return std::nullopt;
+     108             :   }
+     109        1001 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+     110        1001 :     return std::nullopt;
+     111             :   }
+     112         641 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+     113         641 :     return std::nullopt;
+     114             :   }
+     115         634 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+     116         634 :     return std::nullopt;
+     117             :   }
+     118         366 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiPositionCmd& msg) {
+     119         366 :     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        2955 :   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        2955 :     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        2955 :     return validateHwApiActuatorCmd(msg, node_name, var_name);
+     152             :   }
+     153        2762 :   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        2762 :     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        2762 :     return validateHwApiControlGroupCmd(msg, node_name, var_name);
+     162             :   }
+     163        3202 :   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        3202 :     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        3202 :     return validateHwApiAttitudeCmd(msg, node_name, var_name);
+     172             :   }
+     173       20854 :   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       20854 :     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       20854 :     return validateHwApiAttitudeRateCmd(msg, node_name, var_name);
+     182             :   }
+     183         891 :   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         891 :     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         891 :     return validateHwApiAccelerationHdgRateCmd(msg, node_name, var_name);
+     192             :   }
+     193         871 :   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         871 :     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         871 :     return validateHwApiAccelerationHdgCmd(msg, node_name, var_name);
+     202             :   }
+     203         514 :   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         514 :     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         514 :     return validateHwApiVelocityHdgRateCmd(msg, node_name, var_name);
+     212             :   }
+     213         511 :   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         511 :     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         511 :     return validateHwApiVelocityHdgCmd(msg, node_name, var_name);
+     222             :   }
+     223         366 :   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         366 :     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         366 :     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           1 :   void operator()(mrs_msgs::HwApiActuatorCmd& msg, [[maybe_unused]] const mrs_msgs::UavState& uav_state, const double& min_throttle, const double& n_motors) {
+     255           1 :     initializeHwApiCmd(msg, min_throttle, n_motors);
+     256           1 :   }
+     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           2 :   void operator()(mrs_msgs::HwApiAttitudeCmd& msg, const mrs_msgs::UavState& uav_state, const double& min_throttle, [[maybe_unused]] const double& n_motors) {
+     262           2 :     initializeHwApiCmd(msg, uav_state, min_throttle);
+     263           2 :   }
+     264        2295 :   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        2295 :     initializeHwApiCmd(msg, min_throttle);
+     267        2295 :   }
+     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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mrs_uav_managers::Controller::~Controller()0
mrs_uav_managers::Controller::~Controller().2235
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - controller.h (source / functions)HitTotalCoverage
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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         235 :   virtual ~Controller() = default;
+     144             : };
+     145             : 
+     146             : }  // namespace mrs_uav_managers
+     147             : 
+     148             : #endif
+
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mrs_uav_managers::Estimator::~Estimator()0
mrs_uav_managers::Estimator::Estimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)259
mrs_uav_managers::Estimator::~Estimator().2259
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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&)259
mrs_uav_managers::Estimator::~Estimator()0
mrs_uav_managers::Estimator::~Estimator().2259
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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         259 :   Estimator(const std::string &type, const std::string &name, const std::string &frame_id) : type_(type), name_(name), frame_id_(frame_id) {
+      64         259 :   }
+      65             : 
+      66         259 :   virtual ~Estimator(void) {
+      67         259 :   }
+      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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Test:MRS UAV System - Test coverage reportLines:8910981.7 %
Date:2023-12-06 10:06:33Functions:151883.3 %
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Test:MRS UAV System - Test coverage reportLines:8910981.7 %
Date:2023-12-06 10:06:33Functions:151883.3 %
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Test:MRS UAV System - Test coverage reportLines:8910981.7 %
Date:2023-12-06 10:06:33Functions:151883.3 %
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100.0%
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8910981.7 %
Date:2023-12-06 10:06:33Functions:151883.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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estimator.h +
100.0%
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81.0%81.0%
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Test:MRS UAV System - Test coverage reportLines:8510581.0 %
Date:2023-12-06 10:06:33Functions:131586.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::Support::getPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)0
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::estimation_manager::Support::isStringInVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)183
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)188
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)922
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)45484
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)92811
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)99560
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)100734
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)101610
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)104866
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)240374
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)244295
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)343987
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)502353
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_manager - support.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8510581.0 %
Date:2023-12-06 10:06:33Functions:131586.7 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)99560
mrs_uav_managers::estimation_manager::Support::getPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)0
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)244295
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)343987
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)188
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)922
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)104866
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)45484
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)240374
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)92811
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)100734
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&)183
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)101610
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)502353
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_manager - support.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8510581.0 %
Date:2023-12-06 10:06:33Functions:131586.7 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef ESTIMATION_MANAGER_SUPPORT_H
+       3             : #define ESTIMATION_MANAGER_SUPPORT_H
+       4             : 
+       5             : /* includes //{ */
+       6             : 
+       7             : #include <string.h>
+       8             : 
+       9             : #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+      10             : 
+      11             : #include <geometry_msgs/TransformStamped.h>
+      12             : #include <geometry_msgs/Pose.h>
+      13             : #include <geometry_msgs/PointStamped.h>
+      14             : 
+      15             : #include <nav_msgs/Odometry.h>
+      16             : 
+      17             : #include <mrs_msgs/UavState.h>
+      18             : 
+      19             : #include <mrs_lib/attitude_converter.h>
+      20             : #include <mrs_lib/transformer.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_managers
+      25             : {
+      26             : 
+      27             : namespace estimation_manager
+      28             : {
+      29             : 
+      30             : /*//{ class Support */
+      31             : class Support {
+      32             : 
+      33             : public:
+      34             : 
+      35             :   const static inline std::string waiting_for_string = "\033[0;36mWAITING FOR:\033[0m";
+      36             : 
+      37             :   /*//{ toSnakeCase() */
+      38         922 :   static std::string toSnakeCase(const std::string& str_in) {
+      39             : 
+      40         922 :     std::string str(1, tolower(str_in[0]));
+      41             : 
+      42       14146 :     for (auto it = str_in.begin() + 1; it != str_in.end(); ++it) {
+      43       13224 :       if (isupper(*it) && *(it - 1) != '_' && islower(*(it - 1))) {
+      44         744 :         str += "_";
+      45             :       }
+      46       13224 :       str += *it;
+      47             :     }
+      48             : 
+      49         922 :     std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+      50             : 
+      51         922 :     return str;
+      52             :   }
+      53             :   /*//}*/
+      54             : 
+      55             : /* toLowercase() //{ */
+      56             : 
+      57         188 : static std::string toLowercase(const std::string str_in) {
+      58         188 :   std::string str_out = str_in;
+      59         188 :   std::transform(str_out.begin(), str_out.end(), str_out.begin(), ::tolower);
+      60         188 :   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       92811 :   static tf2::Vector3 rotateVecByHdg(const geometry_msgs::Vector3& vec_in, const double hdg_in) {
+      99             : 
+     100       92811 :     const tf2::Quaternion q_hdg = mrs_lib::AttitudeConverter(0, 0, 0).setHeading(hdg_in);
+     101             : 
+     102       92106 :     const tf2::Vector3 vec_tf2(vec_in.x, vec_in.y, vec_in.z);
+     103             : 
+     104       91853 :     const tf2::Vector3 vec_rotated = tf2::quatRotate(q_hdg, vec_tf2);
+     105             : 
+     106      183518 :     return vec_rotated;
+     107             :   }
+     108             :   //}
+     109             : 
+     110             :   /* noNans() //{ */
+     111      502353 :   static bool noNans(const geometry_msgs::TransformStamped& tf) {
+     112             : 
+     113     1506301 :     return (std::isfinite(tf.transform.rotation.x) && std::isfinite(tf.transform.rotation.y) && std::isfinite(tf.transform.rotation.z) &&
+     114     2007987 :             std::isfinite(tf.transform.rotation.w) && std::isfinite(tf.transform.translation.x) && std::isfinite(tf.transform.translation.y) &&
+     115     1004169 :             std::isfinite(tf.transform.translation.z));
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* noNans() //{ */
+     120      101610 :   static bool noNans(const geometry_msgs::Quaternion& q) {
+     121             : 
+     122      101610 :     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      343987 :   static tf2::Transform tf2FromPose(const geometry_msgs::Pose& pose_in) {
+     136             : 
+     137      343987 :     tf2::Vector3 position(pose_in.position.x, pose_in.position.y, pose_in.position.z);
+     138             : 
+     139      343937 :     tf2::Quaternion q;
+     140      343891 :     tf2::fromMsg(pose_in.orientation, q);
+     141             : 
+     142      343845 :     tf2::Transform tf_out(q, position);
+     143             : 
+     144      686624 :     return tf_out;
+     145             :   }
+     146             : 
+     147             :   //}
+     148             : 
+     149             :   /* poseFromTf2() //{ */
+     150             : 
+     151      244295 :   static geometry_msgs::Pose poseFromTf2(const tf2::Transform& tf_in) {
+     152             : 
+     153      244295 :     geometry_msgs::Pose pose_out;
+     154      243743 :     pose_out.position.x = tf_in.getOrigin().getX();
+     155      244054 :     pose_out.position.y = tf_in.getOrigin().getY();
+     156      244105 :     pose_out.position.z = tf_in.getOrigin().getZ();
+     157             : 
+     158      244127 :     pose_out.orientation = tf2::toMsg(tf_in.getRotation());
+     159             : 
+     160      244268 :     return pose_out;
+     161             :   }
+     162             : 
+     163             :   //}
+     164             : 
+     165             :   /* msgFromTf2() //{ */
+     166       99560 :   static geometry_msgs::Transform msgFromTf2(const tf2::Transform& tf_in) {
+     167             : 
+     168       99560 :     geometry_msgs::Transform tf_out;
+     169       99560 :     tf_out.translation.x = tf_in.getOrigin().getX();
+     170       99560 :     tf_out.translation.y = tf_in.getOrigin().getY();
+     171       99560 :     tf_out.translation.z = tf_in.getOrigin().getZ();
+     172       99560 :     tf_out.rotation = tf2::toMsg(tf_in.getRotation());
+     173             : 
+     174       99560 :     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      240374 :   static geometry_msgs::Vector3 pointToVector3(const geometry_msgs::Point& point_in) {
+     194             : 
+     195      240374 :     geometry_msgs::Vector3 vec_out;
+     196      240321 :     vec_out.x = point_in.x;
+     197      240321 :     vec_out.y = point_in.y;
+     198      240321 :     vec_out.z = point_in.z;
+     199             : 
+     200      240321 :     return vec_out;
+     201             :   }
+     202             : 
+     203             :   //}
+     204             : 
+     205             :   /*//{ rotateVector() */
+     206      104866 :   static geometry_msgs::Vector3 rotateVector(const geometry_msgs::Vector3& vec_in, const geometry_msgs::Quaternion& q_in) {
+     207             : 
+     208             :     try {
+     209      104866 :       Eigen::Matrix3d        R = mrs_lib::AttitudeConverter(q_in);
+     210      104859 :       Eigen::Vector3d        vec_in_eigen(vec_in.x, vec_in.y, vec_in.z);
+     211      104800 :       Eigen::Vector3d        vec_eigen_rotated = R * vec_in_eigen;
+     212      104813 :       geometry_msgs::Vector3 vec_out;
+     213      104712 :       vec_out.x = vec_eigen_rotated[0];
+     214      104690 :       vec_out.y = vec_eigen_rotated[1];
+     215      104730 :       vec_out.z = vec_eigen_rotated[2];
+     216      104768 :       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      100734 :   static nav_msgs::Odometry uavStateToOdom(const mrs_msgs::UavState& uav_state) {
+     227      100734 :     nav_msgs::Odometry odom;
+     228      100728 :     odom.header              = uav_state.header;
+     229      100726 :     odom.child_frame_id      = uav_state.child_frame_id;
+     230      100724 :     odom.pose.pose           = uav_state.pose;
+     231      100724 :     odom.twist.twist.angular = uav_state.velocity.angular;
+     232             : 
+     233      100724 :     tf2::Quaternion q;
+     234      100729 :     tf2::fromMsg(odom.pose.pose.orientation, q);
+     235      100722 :     odom.twist.twist.linear = Support::rotateVector(uav_state.velocity.linear, mrs_lib::AttitudeConverter(q.inverse()));
+     236             : 
+     237      201152 :     return odom;
+     238             :   }
+     239             :   /*//}*/
+     240             : 
+     241             :   /*//{ getPoseDiff() */
+     242           0 :   static geometry_msgs::Pose getPoseDiff(const geometry_msgs::Pose& p1, const geometry_msgs::Pose& p2) {
+     243             : 
+     244           0 :     tf2::Vector3 v1, v2;
+     245           0 :     tf2::fromMsg(p1.position, v1);
+     246           0 :     tf2::fromMsg(p2.position, v2);
+     247           0 :     const tf2::Vector3 v3 = v1 - v2;
+     248             : 
+     249           0 :     tf2::Quaternion q1, q2;
+     250           0 :     tf2::fromMsg(p1.orientation, q1);
+     251           0 :     tf2::fromMsg(p2.orientation, q2);
+     252           0 :     tf2::Quaternion q3 = q2 * q1.inverse();
+     253           0 :     q3.normalize();
+     254             : 
+     255           0 :     geometry_msgs::Pose pose_diff;
+     256           0 :     tf2::toMsg(v3, pose_diff.position);
+     257           0 :     pose_diff.orientation = tf2::toMsg(q3);
+     258             : 
+     259           0 :     return pose_diff;
+     260             :   }
+     261             :   /*//}*/
+     262             : 
+     263             :   /*//{ applyPoseDiff() */
+     264       45484 :   static geometry_msgs::Pose applyPoseDiff(const geometry_msgs::Pose& pose_in, const geometry_msgs::Pose& pose_diff) {
+     265             : 
+     266       45484 :     tf2::Vector3    pos_in;
+     267       45484 :     tf2::Quaternion q_in;
+     268       45484 :     tf2::fromMsg(pose_in.position, pos_in);
+     269       45484 :     tf2::fromMsg(pose_in.orientation, q_in);
+     270             : 
+     271       45484 :     tf2::Vector3    pos_diff;
+     272       45484 :     tf2::Quaternion q_diff;
+     273       45484 :     tf2::fromMsg(pose_diff.position, pos_diff);
+     274       45484 :     tf2::fromMsg(pose_diff.orientation, q_diff);
+     275             : 
+     276       45484 :     const tf2::Vector3    pos_out = tf2::quatRotate(q_diff.inverse(), (pos_in - pos_diff));
+     277       45484 :     const tf2::Quaternion q_out   = q_diff.inverse() * q_in;
+     278             : 
+     279       45484 :     geometry_msgs::Pose pose_out;
+     280       45484 :     tf2::toMsg(pos_out, pose_out.position);
+     281       45484 :     pose_out.orientation = tf2::toMsg(q_out);
+     282             : 
+     283       90968 :     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         183 :   static bool isStringInVector(const std::string& value, const std::vector<std::string>& str_vec) {
+     300         183 :     return std::find(str_vec.begin(), str_vec.end(), value) != str_vec.end();
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /*//{ frameIdToEstimatorName() */
+     305           0 :   static std::string frameIdToEstimatorName(const std::string& str_in) {
+     306           0 :     const std::string str_tmp = str_in.substr(str_in.find("/")+1, str_in.size());
+     307           0 :     return str_tmp.substr(0, str_tmp.find("_origin") );
+     308             :   }
+     309             :   /*//}*/
+     310             : 
+     311             : private:
+     312             :   Support() {
+     313             :   }
+     314             : };
+     315             : /*//}*/
+     316             : 
+     317             : }  // namespace estimation_manager
+     318             : 
+     319             : }  // namespace mrs_uav_managers
+     320             : 
+     321             : #endif  // ESTIMATION_MANAGER_SUPPORT_H
+
+
+
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+ + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.png b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..31acc42b914f3c4b0b1957dfbad8fa858a556f1a GIT binary patch literal 1253 zcmVV2m}&=1dIKgVcv9Xd%cj5pTK*JdrX!l0D0q8!rKtManR~C_iC*jqE*)WvMB!L)YER3m8-H zssX$AjJvM&eMi^I_05FtWUL>ACNHmnU-almjzzoLfcdzkpj>noC}-4`aQ1xKT{>%v@d~EKR50t$+KAAzDqiai;8y6iT14+6T z5L%#!aFS28S2(DeOd=@1aSC}^3{WP^bc54`xIBzQC*qPP*w;A~CK|ZbdD})nIyJF_ zFg@Uftn~=>-C#X8B&6;$16dfNVSGDKWC-|mi^JI;BJP0RtJpUy$qgy)rmPu6txS)TP9j6`4YK;$v}`-|MfCcp?t*gt%``9Ykxwmx08Gn!k4z@)RB zEnnz5mt3whS|S!G_CmS!{FFT|G`G9IF4bI^LX^fCAj&NI4ZwC`P=P{OuVe)d_(S%{ z=2u#K!0Zr1yEZd52d_-w`+&3pC&+&u&G_mpmK#ukpz>pAU;0mIM8I>4BXIkuMIc(w zY8)d!zQ=DYN+r+2eYSH+NXb7tH$OHbl7bI;phnB?Zv)C&j1=tN$4^9xxO7|PE*b?{ zPm$}d0cYSoGuACP0Mm3-EU#|?@&+m2IeR|$eKY^I zXT2GqK|Yl^W_&C=p5ZD`bZ=)xafF4|~ zr6LeB7P|&lSqhYIc^Y<_ssqoZA>7#>?0Mklc5=mM6@m}Cww^AG&sw+NA0iiY?iwi8 zs%Jk?ps>Ak0s4ruZri?=2GB0dp@vErB4f1D=g}8{R*=n$mBA)JRv1}J$LRWHfr-6v zjC+u!AWX{`S6=LgFnc`j%?folEG!JAhkdRDsUr$6l498PP>WaRh+8NxvI~{DXn9eX z$|#XAGO4kuPq*aqj9xP0T-u9slXJ>R?i9>vV{wY>I4JwvyjmEq>cAxbpOOD|$xavm z=#CE@8W`bFW~eOTd*#oB*kcCAx3(p{IBD#X2018BrF3V0B)du}$?@aPHTYvK$Hg%M zsUE+hV6Rr}Xsa?tif|SaY(BH)n;cDpQvmu)%0fo)SQf_29?OB_!xhr-248LXc`x3u zC;6JPt|&o&GGC99^*=z0Rw|?e6tB|tw+S_bK;m0>#@EMaNyvXM$ZFvaK;NVg$O{%g P00000NkvXXu0mjfEiFX= literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/include/mrs_uav_managers/index-detail-sort-f.html b/mrs_uav_managers/include/mrs_uav_managers/index-detail-sort-f.html new file mode 100644 index 0000000000..7b26e26723 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/index-detail-sort-f.html @@ -0,0 +1,164 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers + + + + + + + + + + + + + + +
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100.0%
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state_estimator.h +
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<unnamed>100.0 %5 / 566.7 %2 / 3
controller.h +
100.0%
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<unnamed>100.0 %1 / 150.0 %1 / 2
state_estimator.h +
100.0%
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tracker.h +
100.0%
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Test:MRS UAV System - Test coverage reportLines:1212100.0 %
Date:2023-12-06 10:06:33Functions:61060.0 %
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mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::StateEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_uav_managers::StateEstimator::~StateEstimator().247
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mrs_uav_managers::StateEstimator::StateEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::~StateEstimator().247
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Date:2023-12-06 10:06:33Functions:2366.7 %
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+
          Line data    Source code
+
+       1             : #ifndef MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
+       2             : #define MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <Eigen/Dense>
+       9             : 
+      10             : #include <nav_msgs/Odometry.h>
+      11             : 
+      12             : #include <mrs_msgs/UavState.h>
+      13             : #include <mrs_msgs/Float64ArrayStamped.h>
+      14             : #include <mrs_msgs/HwApiCapabilities.h>
+      15             : 
+      16             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+      17             : 
+      18             : //}
+      19             : 
+      20             : namespace mrs_uav_managers
+      21             : {
+      22             : 
+      23             : namespace state
+      24             : {
+      25             : const char type[] = "STATE";
+      26             : }
+      27             : 
+      28             : using namespace estimation_manager;
+      29             : 
+      30             : class StateEstimator : public Estimator {
+      31             : 
+      32             : protected:
+      33             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      34             : 
+      35             :   ros::NodeHandle nh_;
+      36             : 
+      37             :   mrs_msgs::UavState uav_state_;
+      38             :   mrs_msgs::UavState uav_state_init_;
+      39             :   mutable std::mutex mtx_uav_state_;
+      40             : 
+      41             :   nav_msgs::Odometry odom_;
+      42             :   mutable std::mutex mtx_odom_;
+      43             : 
+      44             :   nav_msgs::Odometry innovation_;
+      45             :   nav_msgs::Odometry innovation_init_;
+      46             :   mutable std::mutex mtx_innovation_;
+      47             : 
+      48             :   mrs_msgs::Float64ArrayStamped pose_covariance_, twist_covariance_;
+      49             :   mutable std::mutex            mtx_covariance_;
+      50             : 
+      51             :   bool is_override_frame_id_ = false;
+      52             : 
+      53             : protected:
+      54             :   mutable mrs_lib::PublisherHandler<mrs_msgs::UavState>               ph_uav_state_;
+      55             :   mutable mrs_lib::PublisherHandler<nav_msgs::Odometry>               ph_odom_;
+      56             :   mutable mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>    ph_pose_covariance_, ph_twist_covariance_;
+      57             :   mutable mrs_lib::PublisherHandler<nav_msgs::Odometry>               ph_innovation_;
+      58             :   mutable mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped> ph_attitude_;
+      59             : 
+      60             : public:
+      61          47 :   StateEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      62          47 :       : Estimator(state::type, name, frame_id), package_name_(package_name) {
+      63          47 :   }
+      64             : 
+      65          47 :   virtual ~StateEstimator(void) {
+      66          47 :   }
+      67             : 
+      68             :   virtual bool setUavState(const mrs_msgs::UavState &uav_state) = 0;
+      69             : 
+      70             :   // implemented methods
+      71             :   std::optional<mrs_msgs::UavState>        getUavState();
+      72             :   nav_msgs::Odometry                       getInnovation() const;
+      73             :   std::vector<double>                      getPoseCovariance() const;
+      74             :   std::vector<double>                      getTwistCovariance() const;
+      75             :   void                                     publishUavState() const;
+      76             :   void                                     publishOdom() const;
+      77             :   void                                     publishCovariance() const;
+      78             :   void                                     publishInnovation() const;
+      79             :   std::optional<geometry_msgs::Quaternion> rotateQuaternionByHeading(const geometry_msgs::Quaternion &q, const double hdg) const;
+      80             :   bool                                     isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr &hw_api_capabilities) const;
+      81             : };
+      82             : 
+      83             : }  // namespace mrs_uav_managers
+      84             : 
+      85             : #endif  // MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
+
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Date:2023-12-06 10:06:33Functions:1250.0 %
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mrs_uav_managers::Tracker::~Tracker()0
mrs_uav_managers::Tracker::~Tracker().2283
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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         283 :   virtual ~Tracker() = default;
+     208             : };
+     209             : 
+     210             : }  // namespace mrs_uav_managers
+     211             : 
+     212             : #endif
+
+
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mrs_uav_managers::TfMappingOrigin::TfMappingOrigin(ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>)0
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef TF_MAPPING_ORIGIN_H
+       3             : #define TF_MAPPING_ORIGIN_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/transform_broadcaster.h>
+      10             : #include <mrs_lib/attitude_converter.h>
+      11             : #include <mrs_lib/publisher_handler.h>
+      12             : 
+      13             : #include <nav_msgs/Odometry.h>
+      14             : #include <geometry_msgs/QuaternionStamped.h>
+      15             : #include <geometry_msgs/TransformStamped.h>
+      16             : 
+      17             : #include <mrs_uav_managers/estimation_manager/support.h>
+      18             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      19             : 
+      20             : namespace mrs_uav_managers
+      21             : {
+      22             : 
+      23             : /*//{ class TfMappingOrigin */
+      24             : class TfMappingOrigin {
+      25             : 
+      26             :   using Support = estimation_manager::Support;
+      27             : 
+      28             : public:
+      29             :   /*//{ constructor */
+      30           0 :   TfMappingOrigin(ros::NodeHandle nh, std::shared_ptr<mrs_lib::ParamLoader> param_loader, const std::shared_ptr<mrs_lib::TransformBroadcaster>& broadcaster,
+      31             :                   const std::shared_ptr<estimation_manager::CommonHandlers_t> ch)
+      32           0 :       : nh_(nh), broadcaster_(broadcaster), ch_(ch) {
+      33             : 
+      34           0 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      35             : 
+      36           0 :     const std::string yaml_prefix = "mrs_uav_managers/transform_manager/mapping_origin_tf/";
+      37             : 
+      38             :     /*//{ load mapping origin parameters */
+      39           0 :     param_loader->loadParam(yaml_prefix + "debug_prints", debug_prints_);
+      40           0 :     param_loader->loadParam(yaml_prefix + "lateral_topic", lateral_topic_);
+      41           0 :     param_loader->loadParam(yaml_prefix + "altitude_topic", altitude_topic_);
+      42           0 :     param_loader->loadParam(yaml_prefix + "orientation_topic", orientation_topic_);
+      43           0 :     param_loader->loadParam(yaml_prefix + "inverted", tf_inverted_);
+      44           0 :     param_loader->loadParam(yaml_prefix + "custom_frame_id/enabled", custom_frame_id_enabled_);
+      45             : 
+      46           0 :     if (custom_frame_id_enabled_) {
+      47           0 :       param_loader->loadParam(yaml_prefix + "custom_frame_id/frame_id", custom_frame_id_);
+      48             :     }
+      49             : 
+      50           0 :     if (!param_loader->loadedSuccessfully()) {
+      51           0 :       ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      52           0 :       ros::shutdown();
+      53             :     }
+      54             : 
+      55             :     /*//}*/
+      56             : 
+      57             :     /*//{ initialize subscribers */
+      58           0 :     mrs_lib::SubscribeHandlerOptions shopts;
+      59           0 :     shopts.nh                 = nh_;
+      60           0 :     shopts.node_name          = getPrintName();
+      61           0 :     shopts.no_message_timeout = mrs_lib::no_timeout;
+      62           0 :     shopts.threadsafe         = true;
+      63           0 :     shopts.autostart          = true;
+      64           0 :     shopts.queue_size         = 10;
+      65           0 :     shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      66             : 
+      67             :     sh_mapping_odom_lat_ =
+      68           0 :         mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "/" + ch_->uav_name + "/" + lateral_topic_, &TfMappingOrigin::callbackMappingOdomLat, this);
+      69             : 
+      70           0 :     if (orientation_topic_ != lateral_topic_) {
+      71           0 :       sh_mapping_odom_rot_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orientation_topic_.c_str(),
+      72           0 :                                                                                          &TfMappingOrigin::callbackMappingOdomRot, this);
+      73             :     }
+      74             : 
+      75           0 :     if (altitude_topic_ != lateral_topic_) {
+      76           0 :       sh_mapping_odom_alt_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "/" + ch_->uav_name + "/" + altitude_topic_.c_str(),
+      77           0 :                                                                            &TfMappingOrigin::callbackMappingOdomAlt, this);
+      78             :     }
+      79             :     /*//}*/
+      80             : 
+      81           0 :     ph_map_delay_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "map_delay_out", 10);
+      82             : 
+      83           0 :     is_initialized_ = true;
+      84           0 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+      85           0 :   }
+      86             :   /*//}*/
+      87             : 
+      88             :   /*//{ getName() */
+      89             :   std::string getName() {
+      90             :     return name_;
+      91             :   }
+      92             :   /*//}*/
+      93             : 
+      94             :   /*//{ getPrintName() */
+      95           0 :   std::string getPrintName() {
+      96           0 :     return ch_->nodelet_name + "/" + name_;
+      97             :   }
+      98             :   /*//}*/
+      99             : 
+     100             : private:
+     101             :   const std::string name_ = "TfMappingOrigin";
+     102             : 
+     103             :   ros::NodeHandle nh_;
+     104             : 
+     105             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     106             : 
+     107             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     108             : 
+     109             :   std::atomic_bool is_initialized_ = false;
+     110             : 
+     111             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_map_delay_;
+     112             : 
+     113             :   bool        debug_prints_;
+     114             :   bool        tf_inverted_;
+     115             :   bool        custom_frame_id_enabled_;
+     116             :   std::string custom_frame_id_;
+     117             :   double      cache_duration_;
+     118             : 
+     119             :   std::string                                   lateral_topic_;
+     120             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_mapping_odom_lat_;
+     121             :   std::vector<nav_msgs::Odometry>               vec_mapping_odom_lat_;
+     122             :   std::atomic_bool                              got_mapping_odom_lat_ = false;
+     123             :   std::atomic<double>                           timestamp_lat_;
+     124             : 
+     125             :   /*//{ callbackMappingOdomLat() */
+     126             : 
+     127           0 :   void callbackMappingOdomLat(const nav_msgs::Odometry::ConstPtr msg) {
+     128             : 
+     129           0 :     if (!is_initialized_) {
+     130           0 :       return;
+     131             :     }
+     132             : 
+     133           0 :     timestamp_lat_ = msg->header.stamp.toSec();
+     134             : 
+     135           0 :     if (!got_mapping_odom_lat_) {
+     136           0 :       got_mapping_odom_lat_ = true;
+     137             :     }
+     138             : 
+     139           0 :     if (!got_mapping_odom_rot_ && orientation_topic_ == lateral_topic_) {
+     140           0 :       got_mapping_odom_rot_ = true;
+     141             :     }
+     142             : 
+     143           0 :     if (!got_mapping_odom_alt_ && altitude_topic_ == lateral_topic_) {
+     144           0 :       got_mapping_odom_alt_ = true;
+     145             :     }
+     146             : 
+     147           0 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TfMappingOrigin::callbackMappingOdomLat", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     148             : 
+     149           0 :     const double hdg_mapping_old = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeading();
+     150             : 
+     151             :     /* publish mapping origin tf //{ */
+     152             : 
+     153           0 :     bool clear_needed = false;
+     154             : 
+     155           0 :     if (got_mapping_odom_rot_ && got_mapping_odom_alt_) {
+     156           0 :       std::scoped_lock lock(mtx_mapping_odom_rot_);
+     157             : 
+     158             :       // Copy mapping odometry
+     159           0 :       nav_msgs::Odometry mapping_odom;
+     160           0 :       mapping_odom = *msg;
+     161             : 
+     162             :       // Find corresponding orientation
+     163           0 :       geometry_msgs::QuaternionStamped rot_tmp           = *sh_mapping_odom_rot_.getMsg();  // start with newest msg
+     164           0 :       ros::Time                        dbg_timestamp_rot = rot_tmp.header.stamp;
+     165           0 :       tf2::Quaternion                  tf2_rot;
+     166             : 
+     167           0 :       for (size_t i = 0; i < vec_mapping_odom_rot_.size(); i++) {
+     168           0 :         if (mapping_odom.header.stamp < vec_mapping_odom_rot_.at(i).header.stamp) {
+     169             : 
+     170             :           // Choose an orientation with closest timestamp
+     171           0 :           double time_diff      = std::fabs(vec_mapping_odom_rot_.at(i).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     172           0 :           double time_diff_prev = std::numeric_limits<double>::max();
+     173           0 :           if (i > 0) {
+     174           0 :             time_diff_prev = std::fabs(vec_mapping_odom_rot_.at(i - 1).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     175             :           }
+     176           0 :           if (time_diff_prev < time_diff && i > 0) {
+     177           0 :             i = i - 1;
+     178             :           }
+     179             : 
+     180             :           // Cache is too small if it is full and its oldest element is used
+     181           0 :           if (clear_needed && i == 0) {
+     182           0 :             ROS_WARN_THROTTLE(1.0, "[%s] Mapping orientation cache is too small.", getPrintName().c_str());
+     183             :           }
+     184           0 :           rot_tmp           = vec_mapping_odom_rot_.at(i);
+     185           0 :           dbg_timestamp_rot = vec_mapping_odom_rot_.at(i).header.stamp;
+     186           0 :           break;
+     187             :         }
+     188             :       }
+     189             : 
+     190           0 :       tf2_rot = mrs_lib::AttitudeConverter(rot_tmp.quaternion);
+     191             : 
+     192             :       // Obtain heading from orientation
+     193           0 :       double hdg = 0;
+     194             :       try {
+     195           0 :         hdg = mrs_lib::AttitudeConverter(rot_tmp.quaternion).getHeading();
+     196             :       }
+     197           0 :       catch (...) {
+     198           0 :         ROS_WARN("[%s]: failed to getHeading() from rot_tmp", getPrintName().c_str());
+     199             :       }
+     200             : 
+     201             :       // Build rotation matrix from difference between new heading and old heading
+     202           0 :       tf2::Matrix3x3 rot_mat = mrs_lib::AttitudeConverter(Eigen::AngleAxisd(hdg_mapping_old - hdg, Eigen::Vector3d::UnitZ()));
+     203             : 
+     204             :       // Transform the mavros orientation by the rotation matrix
+     205           0 :       geometry_msgs::Quaternion new_orientation = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_rot);
+     206             : 
+     207             :       // Set new orientation
+     208           0 :       mapping_odom.pose.pose.orientation = new_orientation;
+     209             : 
+     210             : 
+     211             :       // Find corresponding local odom
+     212           0 :       double    odom_alt          = msg->pose.pose.position.z;  // start with newest msg
+     213           0 :       ros::Time dbg_timestamp_alt = msg->header.stamp;
+     214           0 :       for (size_t i = 0; i < vec_mapping_odom_alt_.size(); i++) {
+     215           0 :         if (mapping_odom.header.stamp < vec_mapping_odom_alt_.at(i).header.stamp) {
+     216             : 
+     217             :           // Choose orientation with closest timestamp
+     218           0 :           double time_diff      = std::fabs(vec_mapping_odom_alt_.at(i).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     219           0 :           double time_diff_prev = std::numeric_limits<double>::max();
+     220           0 :           if (i > 0) {
+     221           0 :             time_diff_prev = std::fabs(vec_mapping_odom_alt_.at(i - 1).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     222             :           }
+     223           0 :           if (time_diff_prev < time_diff && i > 0) {
+     224           0 :             i = i - 1;
+     225             :           }
+     226             :           // Cache is too small if it is full and its oldest element is used
+     227           0 :           if (clear_needed && i == 0) {
+     228           0 :             ROS_WARN_THROTTLE(1.0, "[%s] mapping orientation cache (for mapping tf) is too small.", getPrintName().c_str());
+     229             :           }
+     230           0 :           odom_alt          = vec_mapping_odom_alt_.at(i).pose.pose.position.z;
+     231           0 :           dbg_timestamp_alt = vec_mapping_odom_alt_.at(i).header.stamp;
+     232           0 :           break;
+     233             :         }
+     234             :       }
+     235             : 
+     236             :       // Set altitude
+     237           0 :       mapping_odom.pose.pose.position.z = odom_alt;
+     238             : 
+     239             :       // Get inverse transform
+     240           0 :       tf2::Transform      tf_mapping_inv   = Support::tf2FromPose(mapping_odom.pose.pose).inverse();
+     241           0 :       geometry_msgs::Pose pose_mapping_inv = Support::poseFromTf2(tf_mapping_inv);
+     242             : 
+     243           0 :       geometry_msgs::TransformStamped tf_mapping;
+     244           0 :       tf_mapping.header.stamp    = mapping_odom.header.stamp;
+     245           0 :       tf_mapping.header.frame_id = ch_->frames.ns_fcu;
+     246           0 :       if (custom_frame_id_enabled_) {
+     247           0 :         tf_mapping.child_frame_id = ch_->uav_name + "/" + custom_frame_id_;
+     248             :       } else {
+     249           0 :         tf_mapping.child_frame_id = mapping_odom.header.frame_id;
+     250             :       }
+     251           0 :       tf_mapping.transform.translation = Support::pointToVector3(pose_mapping_inv.position);
+     252           0 :       tf_mapping.transform.rotation    = pose_mapping_inv.orientation;
+     253             : 
+     254           0 :       if (Support::noNans(tf_mapping)) {
+     255             :         try {
+     256           0 :           broadcaster_->sendTransform(tf_mapping);
+     257             :         }
+     258           0 :         catch (...) {
+     259           0 :           ROS_ERROR("[%s]: Exception caught during publishing TF: %s - %s.", getPrintName().c_str(), tf_mapping.child_frame_id.c_str(),
+     260             :                     tf_mapping.header.frame_id.c_str());
+     261             :         }
+     262             :       } else {
+     263           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_mapping.header.frame_id.c_str(),
+     264             :                           tf_mapping.child_frame_id.c_str());
+     265             :       }
+     266             : 
+     267             :       // debug timestamps: rot and alt timestamps should be as close as possible to lat_timestamp, the delay is the difference between current time and the time
+     268             :       // of acquisition of scan that was used to calculate the pose estimate
+     269           0 :       if (debug_prints_) {
+     270           0 :         ROS_INFO("[%s] lat timestamp: %.6f, rot stamp: %.6f (diff: %.6f),  alt stamp: %.6f (diff: %.6f), delay: %.6f", getPrintName().c_str(),
+     271             :                  mapping_odom.header.stamp.toSec(), dbg_timestamp_rot.toSec(), dbg_timestamp_rot.toSec() - mapping_odom.header.stamp.toSec(),
+     272             :                  dbg_timestamp_alt.toSec(), dbg_timestamp_alt.toSec() - mapping_odom.header.stamp.toSec(),
+     273             :                  ros::Time::now().toSec() - mapping_odom.header.stamp.toSec());
+     274             :       }
+     275             : 
+     276           0 :       mrs_msgs::Float64Stamped map_delay_msg;
+     277           0 :       map_delay_msg.header.stamp = ros::Time::now();
+     278           0 :       map_delay_msg.value        = ros::Time::now().toSec() - mapping_odom.header.stamp.toSec();
+     279           0 :       ph_map_delay_.publish(map_delay_msg);
+     280             :     }
+     281             : 
+     282             :     //}
+     283             :   }
+     284             :   /*//}*/
+     285             : 
+     286             :   std::string                                                 orientation_topic_;
+     287             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_mapping_odom_rot_;
+     288             :   std::vector<geometry_msgs::QuaternionStamped>               vec_mapping_odom_rot_;
+     289             :   std::mutex                                                  mtx_mapping_odom_rot_;
+     290             :   std::atomic_bool                                            got_mapping_odom_rot_ = false;
+     291             : 
+     292             :   /*//{ callbackMappingOdomRot() */
+     293           0 :   void callbackMappingOdomRot(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     294             : 
+     295           0 :     if (!is_initialized_) {
+     296           0 :       return;
+     297             :     }
+     298             : 
+     299           0 :     if (!got_mapping_odom_lat_) {
+     300           0 :       return;
+     301             :     }
+     302             : 
+     303           0 :     std::scoped_lock lock(mtx_mapping_odom_rot_);
+     304             : 
+     305             :     // Add new data
+     306           0 :     vec_mapping_odom_rot_.push_back(*msg);
+     307             : 
+     308             :     // Delete old data
+     309           0 :     size_t index_delete = 0;
+     310           0 :     bool   clear_needed = false;
+     311           0 :     for (size_t i = 0; i < vec_mapping_odom_rot_.size(); i++) {
+     312           0 :       if (timestamp_lat_ - vec_mapping_odom_rot_.at(i).header.stamp.toSec() > cache_duration_) {
+     313           0 :         index_delete = i;
+     314           0 :         clear_needed = true;
+     315             :       } else {
+     316           0 :         break;
+     317             :       }
+     318             :     }
+     319           0 :     if (clear_needed) {
+     320           0 :       for (int i = (int)index_delete; i >= 0; i--) {
+     321           0 :         vec_mapping_odom_rot_.erase(vec_mapping_odom_rot_.begin() + i);
+     322             :       }
+     323           0 :       clear_needed = false;
+     324             :     }
+     325             : 
+     326           0 :     if (!got_mapping_odom_rot_) {
+     327           0 :       got_mapping_odom_rot_ = true;
+     328             :     }
+     329             : 
+     330           0 :     if (debug_prints_) {
+     331           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: mapping odom rot cache size: %lu", getPrintName().c_str(), vec_mapping_odom_rot_.size());
+     332             :     }
+     333             :   }
+     334             :   /*//}*/
+     335             : 
+     336             :   std::string                                   altitude_topic_;
+     337             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_mapping_odom_alt_;
+     338             :   std::vector<nav_msgs::Odometry>               vec_mapping_odom_alt_;
+     339             :   std::mutex                                    mtx_mapping_odom_alt_;
+     340             :   std::atomic_bool                              got_mapping_odom_alt_ = false;
+     341             : 
+     342             :   /*//{ callbackMappingOdomAlt() */
+     343           0 :   void callbackMappingOdomAlt(const nav_msgs::Odometry::ConstPtr msg) {
+     344             : 
+     345           0 :     if (!is_initialized_) {
+     346           0 :       return;
+     347             :     }
+     348             : 
+     349           0 :     if (!got_mapping_odom_lat_) {
+     350           0 :       return;
+     351             :     }
+     352             : 
+     353           0 :     std::scoped_lock lock(mtx_mapping_odom_alt_);
+     354             : 
+     355             :     // Add new data
+     356           0 :     vec_mapping_odom_alt_.push_back(*msg);
+     357             : 
+     358             :     // Delete old data
+     359           0 :     size_t index_delete = 0;
+     360           0 :     bool   clear_needed = false;
+     361           0 :     for (size_t i = 0; i < vec_mapping_odom_alt_.size(); i++) {
+     362           0 :       if (timestamp_lat_ - vec_mapping_odom_alt_.at(i).header.stamp.toSec() > cache_duration_) {
+     363           0 :         index_delete = i;
+     364           0 :         clear_needed = true;
+     365             :       } else {
+     366           0 :         break;
+     367             :       }
+     368             :     }
+     369           0 :     if (clear_needed) {
+     370           0 :       for (int i = (int)index_delete; i >= 0; i--) {
+     371           0 :         vec_mapping_odom_alt_.erase(vec_mapping_odom_alt_.begin() + i);
+     372             :       }
+     373           0 :       clear_needed = false;
+     374             :     }
+     375             : 
+     376           0 :     if (!got_mapping_odom_alt_) {
+     377           0 :       got_mapping_odom_alt_ = true;
+     378             :     }
+     379             : 
+     380           0 :     if (debug_prints_) {
+     381           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: mapping odom alt cache size: %lu", getPrintName().c_str(), vec_mapping_odom_alt_.size());
+     382             :     }
+     383             :   }
+     384             :   /*//}*/
+     385             : };
+     386             : /*//}*/
+     387             : 
+     388             : }  // namespace mrs_uav_managers
+     389             : 
+     390             : #endif
+
+
+
+ + + + +
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+ + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.png b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..e3d425e3e4319475911ce94a36b8a1ec26ea482f GIT binary patch literal 1536 zcmV+b2LJhqP)fFt&%}Y=;1N(Rt_>#|c)`|cl;5Az%*)9Km%cd5r zUFGeDo-=U20yZ*9J;hlZ%g6PN%&PDs(; zZQc_ql5}Li1&Wc7j2)Hi6v5(q4xMcKUGtTf7AM^CH`7`Hq6Oj%SYJ$l#Hs^eflJTm z6p`qXXZXg6UEq{=1lAoAtqYAy$_SbcWen$csNogxCj?gk&dhVSGAl{NP7wm29|q@Y zJs4C201!2gJu7X(j5MBlK)G+azz7s|2PmwkK%m&);SVZSo1!8DZ7cg4);@CJiEei| z@#X0H03yC>iXcB^isGE>I+Nt-zrYjN%B+1Rv4N zlHIWnIcxoG_QBZN1S=8k+u|La^#LJA-*Fo7%06O(&vKt-d2wQvr|baD(zTYWcZ@0& zP1W!{os`xbscoT+wK$x073aO#paFUR0W!q)WsE;mM%nOwSVkT#oz`@HFoZgGdiJF= z7Yv2+U}%3iS9nYnN!^h$cCCq?k^K=lkPbA+iVa1xc~1MdQV2#`S7!t7uGZCeW388E z#CoN>(6^^%oM_OURDjfKwBv1n6dPJ|uld@;H1_FdxxGX6cb)-=S)A0a$Y{1>js{mI zL)Gz4*s-1hyf*rvtm}qQ1dPNy&mvYQQ@^#7Xl5^5uId|p8ohg&dsTWvo$Go-Dzv0|7P7xJ!4NNnyJ3y7(SM_ z^0KpDSt+z2)$L?BzT?m5Z<6d&q;$uH%f1FiWfHNYEW+1yTb19^SF5b|`O^iyEt*yL zOSgNAo~ebsJDl*4Ct!cd^y71Oi?y($AuEu}=zl~RK57!!TQ?>6<6DMD6wPJ$KUdeh zxz?+zw!Nv{|5kO~AW2PUK)y{&|FoPEg2)(oe_G9(Z$1*qEu(GOW{kc?k!N763n#bLRnqN0) zx1>EhgkziLaw*D{3X&4MJaWlONLPEx0`s)C&V3E00k?sLLUCoJ=4s+YJYR$wu_qSU zaNhCJ(%yW;mV1N2g@;R@q?(7Thw2Z2Cmoh1B0tYGn@hh=eaE9kMmv7={(3|ccg5&V zlkK;X z!aARa46O0;V?gl)dc!TrW;}=UPO3YbiFpQqHxMJQGvMf)wA{LyfYvFOG2d3}jJvop z`5?wl2i-=$rVm$ajVH~;KD_ft5dnTUrBoF^bLBhSYoe!s9y~%vhu=$2EB?F=pslL2 z(tq&*mX1U%u*DJ{PNg)``koHp&pwy(?EoyS$ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18623778.5 %
Date:2023-12-06 10:06:33Functions:111478.6 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::getIsUtmBased()0
mrs_uav_managers::TfSource::getIsUtmSource()0
mrs_uav_managers::TfSource::setIsUtmSource(bool)0
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)47
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)47
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)47
mrs_uav_managers::TfSource::getName[abi:cxx11]()373
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> > >&)5136
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)49969
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)49969
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)53919
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)53919
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()212051
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.func.html b/mrs_uav_managers/include/transform_manager/tf_source.h.func.html new file mode 100644 index 0000000000..6aa3cd103d --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.func.html @@ -0,0 +1,136 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18623778.5 %
Date:2023-12-06 10:06:33Functions:111478.6 %
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]()212051
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)47
mrs_uav_managers::TfSource::getIsUtmBased()0
mrs_uav_managers::TfSource::getIsUtmSource()0
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_uav_managers::TfSource::setIsUtmSource(bool)0
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)47
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)49969
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> > >&)5136
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)53919
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)49969
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)53919
mrs_uav_managers::TfSource::getName[abi:cxx11]()373
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)47
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.frameset.html b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.frameset.html new file mode 100644 index 0000000000..4f63eb0600 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.html b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.html new file mode 100644 index 0000000000..8910ac9ee1 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.html @@ -0,0 +1,701 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18623778.5 %
Date:2023-12-06 10:06:33Functions:111478.6 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef TF_SOURCE_H
+       3             : #define TF_SOURCE_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/publisher_handler.h>
+      10             : #include <mrs_lib/attitude_converter.h>
+      11             : #include <mrs_lib/transformer.h>
+      12             : #include <mrs_lib/transform_broadcaster.h>
+      13             : #include <mrs_lib/gps_conversions.h>
+      14             : 
+      15             : #include <tf2_ros/transform_broadcaster.h>
+      16             : #include <tf2_ros/static_transform_broadcaster.h>
+      17             : 
+      18             : #include <geometry_msgs/TransformStamped.h>
+      19             : 
+      20             : #include <nav_msgs/Odometry.h>
+      21             : 
+      22             : #include <memory>
+      23             : #include <string>
+      24             : 
+      25             : #include <mrs_uav_managers/estimation_manager/support.h>
+      26             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      27             : 
+      28             : namespace mrs_uav_managers
+      29             : {
+      30             : 
+      31             : /*//{ class TfSource */
+      32             : class TfSource {
+      33             : 
+      34             :   using Support = estimation_manager::Support;
+      35             : 
+      36             : public:
+      37             :   /*//{ constructor */
+      38          47 :   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          47 :       : name_(name), nh_(nh), broadcaster_(broadcaster), ch_(ch), is_utm_source_(is_utm_source) {
+      42             : 
+      43          47 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      44             : 
+      45          47 :     if (name != "dummy") {
+      46             : 
+      47             :       /*//{ load parameters */
+      48             : 
+      49          94 :       const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+      50             : 
+      51          94 :       std::string odom_topic, attitude_topic, ns;
+      52             : 
+      53          47 :       param_loader->loadParam(yaml_prefix + getName() + "/odom_topic", odom_topic);
+      54          47 :       param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/enabled", custom_frame_id_enabled_, false);
+      55          47 :       if (custom_frame_id_enabled_) {
+      56           0 :         param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/frame_id", custom_frame_id_);
+      57             :       }
+      58          47 :       param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/enabled", tf_from_attitude_enabled_);
+      59          47 :       if (tf_from_attitude_enabled_) {
+      60          44 :         param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/attitude_topic", attitude_topic);
+      61             :       }
+      62          47 :       param_loader->loadParam(yaml_prefix + getName() + "/namespace", ns);
+      63          47 :       full_topic_odom_     = "/" + ch_->uav_name + "/" + ns + "/" + odom_topic;
+      64          47 :       full_topic_attitude_ = "/" + ch_->uav_name + "/" + ns + "/" + attitude_topic;
+      65          47 :       param_loader->loadParam(yaml_prefix + getName() + "/inverted", is_inverted_);
+      66          47 :       param_loader->loadParam(yaml_prefix + getName() + "/republish_in_frames", republish_in_frames_);
+      67             : 
+      68             :       /* coordinate frames origins //{ */
+      69          47 :       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          47 :       if (is_utm_based_) {
+      74          88 :         std::string utm_origin_parent_frame_id;
+      75          44 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/parent", utm_origin_parent_frame_id);
+      76          44 :         ns_utm_origin_parent_frame_id_ = ch_->uav_name + "/" + utm_origin_parent_frame_id;
+      77             : 
+      78          44 :         std::string utm_origin_child_frame_id;
+      79          44 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/child", utm_origin_child_frame_id);
+      80          44 :         ns_utm_origin_child_frame_id_ = ch_->uav_name + "/" + utm_origin_child_frame_id;
+      81             :       }
+      82             :       /*//}*/
+      83             : 
+      84             :       /*//{ world source */
+      85          47 :       if (is_utm_based_) {
+      86          88 :         std::string world_origin_parent_frame_id;
+      87          44 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/parent", world_origin_parent_frame_id);
+      88          44 :         ns_world_origin_parent_frame_id_ = ch_->uav_name + "/" + world_origin_parent_frame_id;
+      89             : 
+      90          44 :         std::string world_origin_child_frame_id;
+      91          44 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/child", world_origin_child_frame_id);
+      92          44 :         ns_world_origin_child_frame_id_ = ch_->uav_name + "/" + world_origin_child_frame_id;
+      93             :       }
+      94             :       /*//}*/
+      95             : 
+      96             :       //}
+      97             : 
+      98          47 :       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          94 :       mrs_lib::SubscribeHandlerOptions shopts;
+     107          47 :       shopts.nh                 = nh_;
+     108          47 :       shopts.node_name          = getPrintName();
+     109          47 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     110          47 :       shopts.threadsafe         = true;
+     111          47 :       shopts.autostart          = true;
+     112          47 :       shopts.queue_size         = 10;
+     113          47 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     114             : 
+     115          47 :       sh_tf_source_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, full_topic_odom_, &TfSource::callbackTfSourceOdom, this);
+     116          47 :       if (tf_from_attitude_enabled_) {
+     117          44 :         sh_tf_source_att_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, full_topic_attitude_, &TfSource::callbackTfSourceAtt, this);
+     118             :       }
+     119             : 
+     120          47 :       if (is_utm_source_) {
+     121          44 :         sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     122             :       }
+     123             : 
+     124             :     }
+     125             :     /*//}*/
+     126             : 
+     127          51 :     for (auto frame_id : republish_in_frames_) {
+     128           4 :       republishers_.push_back(
+     129           8 :           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          47 :     is_initialized_ = true;
+     132          47 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     133          47 :   }
+     134             :   /*//}*/
+     135             : 
+     136             :   /*//{ getName() */
+     137         373 :   std::string getName() {
+     138         373 :     return name_;
+     139             :   }
+     140             :   /*//}*/
+     141             : 
+     142             :   /*//{ getPrintName() */
+     143      212051 :   std::string getPrintName() {
+     144      424476 :     return ch_->nodelet_name + "/" + name_;
+     145             :   }
+     146             :   /*//}*/
+     147             : 
+     148             :   /*//{ getIsUtmBased() */
+     149           0 :   bool getIsUtmBased() {
+     150           0 :     return is_utm_based_;
+     151             :   }
+     152             :   /*//}*/
+     153             : 
+     154             :   /*//{ getIsUtmSource() */
+     155           0 :   bool getIsUtmSource() {
+     156           0 :     return is_utm_source_;
+     157             :   }
+     158             :   /*//}*/
+     159             : 
+     160             :   /*//{ setIsUtmSource() */
+     161           0 :   void setIsUtmSource(const bool is_utm_source) {
+     162           0 :     if (is_utm_source) {
+     163           0 :       mrs_lib::SubscribeHandlerOptions shopts;
+     164           0 :       shopts.nh                 = nh_;
+     165           0 :       shopts.node_name          = getPrintName();
+     166           0 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     167           0 :       shopts.threadsafe         = true;
+     168           0 :       shopts.autostart          = true;
+     169           0 :       shopts.queue_size         = 10;
+     170           0 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     171           0 :       sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     172             :     }
+     173           0 :     is_utm_source_ = is_utm_source;
+     174           0 :   }
+     175             :   /*//}*/
+     176             : 
+     177             :   /*//{ setUtmOrigin() */
+     178          47 :   void setUtmOrigin(const geometry_msgs::Point& pt) {
+     179             : 
+     180          47 :     if (is_utm_based_ && !is_utm_origin_set_) {
+     181          44 :       utm_origin_        = pt;
+     182          44 :       is_utm_origin_set_ = true;
+     183             :     }
+     184          47 :   }
+     185             :   /*//}*/
+     186             : 
+     187             :   /*//{ setWorldOrigin() */
+     188          47 :   void setWorldOrigin(const geometry_msgs::Point& pt) {
+     189             : 
+     190          47 :     if (is_utm_based_ && !is_world_origin_set_) {
+     191          44 :       world_origin_        = pt;
+     192          44 :       is_world_origin_set_ = true;
+     193             :     }
+     194          47 :   }
+     195             :   /*//}*/
+     196             : 
+     197             : private:
+     198             :   const std::string name_;
+     199             :   const std::string ns_fcu_frame_id_;
+     200             : 
+     201             :   ros::NodeHandle nh_;
+     202             : 
+     203             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     204             :   tf2_ros::StaticTransformBroadcaster            static_broadcaster_;
+     205             : 
+     206             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     207             : 
+     208             :   bool is_inverted_;
+     209             : 
+     210             :   bool             is_utm_based_;
+     211             :   bool             publish_local_tf_ = true;
+     212             :   bool             publish_utm_tf_   = false;
+     213             :   bool             publish_world_tf_ = false;
+     214             :   std::atomic_bool is_utm_source_    = false;
+     215             :   std::string      ns_utm_origin_parent_frame_id_;
+     216             :   std::string      ns_utm_origin_child_frame_id_;
+     217             : 
+     218             :   bool                 is_utm_origin_set_ = false;
+     219             :   geometry_msgs::Point utm_origin_;
+     220             : 
+     221             :   std::string ns_world_origin_parent_frame_id_;
+     222             :   std::string ns_world_origin_child_frame_id_;
+     223             : 
+     224             :   bool                 is_world_origin_set_ = false;
+     225             :   geometry_msgs::Point world_origin_;
+     226             : 
+     227             :   std::string full_topic_odom_;
+     228             :   std::string full_topic_attitude_;
+     229             :   bool        tf_from_attitude_enabled_ = false;
+     230             : 
+     231             :   bool        custom_frame_id_enabled_;
+     232             :   std::string custom_frame_id_;
+     233             : 
+     234             :   std::atomic_bool is_initialized_               = false;
+     235             :   std::atomic_bool is_local_static_tf_published_ = false;
+     236             :   std::atomic_bool is_utm_static_tf_published_   = false;
+     237             :   std::atomic_bool is_world_static_tf_published_ = false;
+     238             : 
+     239             :   std::vector<std::string> republish_in_frames_;
+     240             : 
+     241             :   std::vector<std::pair<std::string, mrs_lib::PublisherHandler<nav_msgs::Odometry>>> republishers_;
+     242             : 
+     243             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry>               sh_tf_source_odom_;
+     244             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_tf_source_att_;
+     245             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>          sh_altitude_amsl_;
+     246             :   nav_msgs::OdometryConstPtr                                  first_msg_;
+     247             :   bool                                                        got_first_msg_ = false;
+     248             : 
+     249             : 
+     250             :   /*//{ callbackTfSourceOdom()*/
+     251       53919 :   void callbackTfSourceOdom(const nav_msgs::Odometry::ConstPtr msg) {
+     252             : 
+     253       53919 :     if (!is_initialized_) {
+     254           0 :       return;
+     255             :     }
+     256             : 
+     257      161757 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     258             : 
+     259       53919 :     scope_timer.checkpoint("get msg");
+     260             : 
+     261       53919 :     if (!got_first_msg_) {
+     262          47 :       first_msg_     = msg;
+     263          47 :       got_first_msg_ = true;
+     264             :     }
+     265             : 
+     266       53919 :     publishTfFromOdom(msg);
+     267       53919 :     scope_timer.checkpoint("pub tf");
+     268             : 
+     269       53919 :     if (publish_local_tf_ && !is_local_static_tf_published_) {
+     270          47 :       publishLocalTf(msg->header.frame_id);
+     271          47 :       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       59055 :     for (auto republisher : republishers_) {
+     285        5136 :       republishInFrame(msg, ch_->uav_name + "/" + republisher.first, republisher.second);
+     286             :     }
+     287             :   }
+     288             :   /*//}*/
+     289             : 
+     290             :   /*//{ callbackTfSourceAtt()*/
+     291       49969 :   void callbackTfSourceAtt(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     292             : 
+     293       49969 :     if (!is_initialized_) {
+     294           0 :       return;
+     295             :     }
+     296             : 
+     297      149907 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     298             : 
+     299       49969 :     scope_timer.checkpoint("get msg");
+     300       49969 :     publishTfFromAtt(msg);
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /* publishTfFromOdom() //{*/
+     305       53919 :   void publishTfFromOdom(const nav_msgs::OdometryConstPtr& odom) {
+     306             : 
+     307      107838 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     308             : 
+     309       53919 :     const tf2::Transform      tf       = Support::tf2FromPose(odom->pose.pose);
+     310       53919 :     const tf2::Transform      tf_inv   = tf.inverse();
+     311       53919 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     312             : 
+     313             :     /*//{ tf source origin */
+     314       53919 :     geometry_msgs::TransformStamped tf_msg;
+     315       53919 :     tf_msg.header.stamp         = odom->header.stamp;
+     316       53919 :     std::string origin_frame_id = custom_frame_id_enabled_ ? ch_->uav_name + "/" + custom_frame_id_ : odom->header.frame_id;
+     317       53919 :     if (is_inverted_) {
+     318             : 
+     319       53919 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     320       53919 :       tf_msg.child_frame_id        = origin_frame_id;
+     321       53919 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     322       53919 :       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       53919 :     if (Support::noNans(tf_msg)) {
+     332             :       try {
+     333       53919 :         broadcaster_->sendTransform(tf_msg);
+     334             :       }
+     335           0 :       catch (...) {
+     336           0 :         ROS_ERROR("exception caught ");
+     337             :       }
+     338             : 
+     339       53919 :       if (tf_from_attitude_enabled_) {
+     340       49780 :         if (is_inverted_) {
+     341       49780 :           tf_msg.child_frame_id += "_att_only";
+     342             :         } else {
+     343           0 :           tf_msg.header.frame_id += "_att_only";
+     344             :         }
+     345             :         try {
+     346       49780 :           broadcaster_->sendTransform(tf_msg);
+     347             :         }
+     348           0 :         catch (...) {
+     349           0 :           ROS_ERROR("exception caught ");
+     350             :         }
+     351             :       }
+     352             :       /*//}*/
+     353             : 
+     354             :       /*//{ tf utm origin */
+     355             : 
+     356       53919 :       geometry_msgs::TransformStamped tf_utm_msg;
+     357       53919 :       if (is_utm_source_) {
+     358             :         
+     359       49780 :         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       49780 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     365       49780 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     366       49780 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     367             : 
+     368       49780 :         if (sh_altitude_amsl_.hasMsg()) {
+     369       49780 :           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       49780 :         tf_utm_msg.header.stamp    = odom->header.stamp;
+     375       49780 :         tf_utm_msg.header.frame_id = ns_utm_origin_parent_frame_id_;
+     376       49780 :         tf_utm_msg.child_frame_id  = ns_utm_origin_child_frame_id_;
+     377             : 
+     378       49780 :         tf2::Transform tf_utm;
+     379       49780 :         if (is_inverted_) {
+     380       49780 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     381             :         } else {
+     382           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     383             :         }
+     384       49780 :         tf_utm_msg.transform = Support::msgFromTf2(tf_utm);
+     385             : 
+     386             :         try {
+     387       49780 :           broadcaster_->sendTransform(tf_utm_msg);
+     388       49780 :           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       53919 :       if (is_utm_source_) {
+     398       99560 :         geometry_msgs::TransformStamped tf_world_msg;
+     399       49780 :         tf_world_msg.header.stamp    = odom->header.stamp;
+     400       49780 :         tf_world_msg.header.frame_id = ns_world_origin_parent_frame_id_;
+     401       49780 :         tf_world_msg.child_frame_id  = ns_world_origin_child_frame_id_;
+     402             : 
+     403       49780 :         tf2::Transform tf_world;
+     404       49780 :         tf_world.setOrigin(tf2::Vector3(world_origin_.x, world_origin_.y, world_origin_.z));
+     405       49780 :         tf_world.setRotation(tf2::Quaternion(0, 0, 0, 1));
+     406             : 
+     407       49780 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     408       49780 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     409       49780 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     410             : 
+     411       49780 :         tf2::Transform tf_utm;
+     412       49780 :         if (is_inverted_) {
+     413       49780 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     414             :         } else {
+     415           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     416             :         }
+     417             : 
+     418       49780 :         tf_world_msg.transform          = Support::msgFromTf2(tf_utm * tf_world);
+     419       49780 :         tf_world_msg.transform.rotation = pose_inv.orientation;
+     420             : 
+     421             :         try {
+     422       49780 :           broadcaster_->sendTransform(tf_world_msg);
+     423       49780 :           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       53919 :     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       49969 :   void publishTfFromAtt(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     443             : 
+     444      149907 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     445             : 
+     446       99938 :     geometry_msgs::TransformStamped tf_msg;
+     447       49969 :     tf_msg.header.stamp = msg->header.stamp;
+     448             : 
+     449       49969 :     geometry_msgs::Pose pose;
+     450       49969 :     pose.orientation = msg->quaternion;
+     451       49969 :     if (is_inverted_) {
+     452             : 
+     453       49969 :       const tf2::Transform      tf       = Support::tf2FromPose(pose);
+     454       49969 :       const tf2::Transform      tf_inv   = tf.inverse();
+     455       49969 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     456             : 
+     457       49969 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     458       49969 :       tf_msg.child_frame_id        = msg->header.frame_id;
+     459       49969 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     460       49969 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     461             : 
+     462             :     } else {
+     463           0 :       tf_msg.header.frame_id       = msg->header.frame_id;
+     464           0 :       tf_msg.child_frame_id        = ch_->frames.ns_fcu;
+     465           0 :       tf_msg.transform.translation = Support::pointToVector3(pose.position);
+     466           0 :       tf_msg.transform.rotation    = pose.orientation;
+     467             :     }
+     468             : 
+     469       49969 :     if (Support::noNans(tf_msg)) {
+     470             :       try {
+     471       49969 :         scope_timer.checkpoint("before pub");
+     472       49969 :         broadcaster_->sendTransform(tf_msg);
+     473       49969 :         scope_timer.checkpoint("after pub");
+     474             :       }
+     475           0 :       catch (...) {
+     476           0 :         ROS_ERROR("exception caught ");
+     477             :       }
+     478             :     } else {
+     479           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     480             :                         tf_msg.child_frame_id.c_str());
+     481             :     }
+     482       49969 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on topic: %s", getPrintName().c_str(),
+     483             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_attitude_.c_str());
+     484       49969 :   }
+     485             :   /*//}*/
+     486             : 
+     487             :   /* publishLocalTf() //{*/
+     488          47 :   void publishLocalTf(const std::string& frame_id) {
+     489             : 
+     490         141 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     491             : 
+     492          94 :     geometry_msgs::TransformStamped tf_msg;
+     493          47 :     tf_msg.header.stamp = ros::Time::now();
+     494             : 
+     495          47 :     tf_msg.header.frame_id       = frame_id;
+     496          47 :     tf_msg.child_frame_id        = frame_id.substr(0, frame_id.find("_origin")) + "_local_origin";
+     497          47 :     tf_msg.transform.translation = Support::pointToVector3(first_msg_->pose.pose.position);
+     498          47 :     tf_msg.transform.rotation    = first_msg_->pose.pose.orientation;
+     499             : 
+     500          47 :     if (Support::noNans(tf_msg)) {
+     501             :       try {
+     502          47 :         static_broadcaster_.sendTransform(tf_msg);
+     503             :       }
+     504           0 :       catch (...) {
+     505           0 :         ROS_ERROR("exception caught ");
+     506             :       }
+     507             :     } else {
+     508           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(),
+     509             :                         tf_msg.child_frame_id.c_str());
+     510             :     }
+     511          47 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     512             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     513          47 :     is_local_static_tf_published_ = true;
+     514          47 :   }
+     515             :   /*//}*/
+     516             : 
+     517             :   /* publishUtmTf() //{*/
+     518             :   void publishUtmTf(const std::string& frame_id) {
+     519             : 
+     520             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishUtmTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     521             : 
+     522             :     geometry_msgs::TransformStamped tf_msg;
+     523             :     tf_msg.header.stamp = ros::Time::now();
+     524             : 
+     525             :     tf_msg.header.frame_id         = frame_id;
+     526             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_utm_origin";
+     527             :     tf_msg.transform.translation.x = -utm_origin_.x;  // minus because inverse tf tree
+     528             :     tf_msg.transform.translation.y = -utm_origin_.y;  // minus because inverse tf tree
+     529             :     tf_msg.transform.translation.z = -utm_origin_.z;  // minus because inverse tf tree
+     530             :     tf_msg.transform.rotation.x    = 0;
+     531             :     tf_msg.transform.rotation.y    = 0;
+     532             :     tf_msg.transform.rotation.z    = 0;
+     533             :     tf_msg.transform.rotation.w    = 1;
+     534             : 
+     535             :     if (Support::noNans(tf_msg)) {
+     536             :       try {
+     537             :         static_broadcaster_.sendTransform(tf_msg);
+     538             :       }
+     539             :       catch (...) {
+     540             :         ROS_ERROR("exception caught ");
+     541             :       }
+     542             :     } else {
+     543             :       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(),
+     544             :                         tf_msg.child_frame_id.c_str());
+     545             :     }
+     546             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     547             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     548             :     is_utm_static_tf_published_ = true;
+     549             :   }
+     550             :   /*//}*/
+     551             : 
+     552             :   /* publishWorldTf() //{*/
+     553             :   void publishWorldTf(const std::string& frame_id) {
+     554             : 
+     555             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishWorldTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     556             : 
+     557             :     geometry_msgs::TransformStamped tf_msg;
+     558             :     tf_msg.header.stamp = ros::Time::now();
+     559             : 
+     560             :     tf_msg.header.frame_id         = frame_id;
+     561             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_world_origin";
+     562             :     tf_msg.transform.translation.x = -(utm_origin_.x - world_origin_.x);  // minus because inverse tf tree
+     563             :     tf_msg.transform.translation.y = -(utm_origin_.y - world_origin_.y);  // minus because inverse tf tree
+     564             :     /* tf_msg.transform.translation.z = -(utm_origin_.z);                    // minus because inverse tf tree */
+     565             :     tf_msg.transform.translation.z = 0;
+     566             :     tf_msg.transform.rotation.x    = 0;
+     567             :     tf_msg.transform.rotation.y    = 0;
+     568             :     tf_msg.transform.rotation.z    = 0;
+     569             :     tf_msg.transform.rotation.w    = 1;
+     570             : 
+     571             :     if (Support::noNans(tf_msg)) {
+     572             :       try {
+     573             :         static_broadcaster_.sendTransform(tf_msg);
+     574             :       }
+     575             :       catch (...) {
+     576             :         ROS_ERROR("exception caught ");
+     577             :       }
+     578             :     } else {
+     579             :       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(),
+     580             :                         tf_msg.child_frame_id.c_str());
+     581             :     }
+     582             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     583             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     584             :     is_world_static_tf_published_ = true;
+     585             :   }
+     586             :   /*//}*/
+     587             : 
+     588             :   /* republishInFrame() //{*/
+     589        5136 :   void republishInFrame(const nav_msgs::OdometryConstPtr& msg, const std::string& frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>& ph) {
+     590             : 
+     591       10272 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::republishInFrame", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     592             : 
+     593        5136 :     nav_msgs::Odometry msg_out = *msg;
+     594        5136 :     msg_out.header.frame_id    = frame_id;
+     595             : 
+     596        5136 :     geometry_msgs::PoseStamped pose;
+     597        5136 :     pose.header = msg->header;
+     598        5136 :     pose.pose   = msg->pose.pose;
+     599             : 
+     600        5136 :     auto res = ch_->transformer->transformSingle(pose, frame_id);
+     601        5136 :     if (res) {
+     602        3853 :       msg_out.pose.pose = res->pose;
+     603        3853 :       ph.publish(msg_out);
+     604             :     } else {
+     605        1283 :       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());
+     606        1283 :       return;
+     607             :     }
+     608             :   }
+     609             : 
+     610             :   /*//}*/
+     611             : };
+     612             : 
+     613             : /*//}*/
+     614             : 
+     615             : }  // namespace mrs_uav_managers
+     616             : 
+     617             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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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..fffaa91ed328119a62fbcaa8a472c597b693e295 GIT binary patch literal 2207 zcmV;Q2w?Y#P);hgBY8c=wazLAiaeYF^1WlAS{M;cfg(+1JJEGR@nc<|aydlt3@Jph$(9<} z-8I+Lz%eyALufvJowT{@CGt^f$JSU!d+$_FHQe$9Y?)b~D0KoBB0g60k@7Z`1 zaK>BDn3;Me*dANAjlG?;H6NPmdh{e%AZP5;wkF2b@R()=3}lV{Zd+eVZ)0N*^^anT zd)R-EpX299@5AfyQvj<|oO&+oQqOA!SK6&eBaCx!#vRjKm^{cZAP7uOot8)yAogt$ zXaYsnk-4s$z(7%0AeB63VF23+sA>hpUD`0*Mi)rz@)l532LN4zJPK>fxAWMsalU#G zK4p%(Mrdjpq_%P>)b&_E1rM5(YJ~ejX|xbv@gL!MQue&L{j~<$q45y(ntMku2iN>I zNWHiD)Jy%sP~TiN7lxD9Qc3Cn^eY`kzz>nSZti=W=%4>LCib)@_^HkClWzXED}Yx@ zT{kw6`lt&7q^>P|zD;Vos7uzwtXrwIPC+sx4^B}Ln0h({Z9<9>$hsWv8fIif;1MXY zw&J>O0s}?f_=v|W3}Bm5q@dg;(uCqsd%<3KYE)yw%BaYh)%_-i3nbqLwsW(0A ziGXAboB8m6+FX*WMzLJFR)E^Y$NQHGP18Wj)J${MGSoC#;SJM}{G){Y3d`uvf$~94 z;}a0*AN1_VOs?8ufF6pt&E%YjK)f(BdVjv_6Y_C#LipPbCnA$tj&ERdti zQsjY!&6Wy9F9JSE)&ftsZ|)?~T-foGdz;Vp2`QojUzRQpJlA!60>gw88%uprq|gK& zEOn*IrsPzzU=NRk;z?mTx-QfmrJy4R1LIpI@C?OnVGz|ZVuT{cY<~~z=aayIA`gss z4X{d)XKV?N3JK;b%TWOFrOIV&8_K<*q~;!%b0f>bMl#iJrP>=6{Z>ldz&cZ`r?BhK zfx47TRRRv^v2|YPKyGc_$X+Y9Jw40o5rr$$vq_Kgk%o@P!XHVZd51uHQpslv874X8 z3-oAGLgpfz5U@1#ti{JUn5Ya$eh2X5A+nzg_zo^R-&~yH)$@+5c>;Lz9qm^Mp2dk zJA1hLoLe#bu}MOJxAj}GbkJ=@?k$Do^xGX z%e8ft?I;E;uK9>dalVAr)b~6|kA4(hZ?kLm-lbx}-mNEp#8yf7_EqA(h-z*37| z(IxepSCF%xldd2~?P6Fz>nr-wv|=b!V-GT+x1kG>2l$l_q^iYhpNDJph?YqFWQc)z zCP%FgIHYjNl4!WnrJjMnvDlO9G|IBvS6c?HDP+sAx)y*20}a%p+A^WjTdNYVYx>|< zS_s%>Lb8e(9$Y|b%IVPMG~3QhNJRA*=y){Y5#K}low*tmmylnoOH>qy*uGcG~LRP=1y7QkT7y606-y?34pK2 zy4Dlo0#HbZm%vIw{I6z)Z)EXNGW1oM;d0KtIy21N1ppNBJoA;AVfKDeR|*+lco%_R zkZb-QXVNV{jc= z06PLTa3G5N{woQm?OGX{i=IQ*?kRkUf_<kImcL}_lshmvB=6fu-q>-RQY!~ z`h7wgrxlywMURVOGotq!nk(J|0%`ul_?LYuKPML%G#o6#BZD%<8kMc4m<22 zBnz4+zD1fl2-F5Pt|6$-nn{M;+=2`G{FOU&_iqBQy(yhuaM4CT3YFvfx^E!p?OETJ h6s*MwtFvi|`~fwtzAyX38ma&Q002ovPDHLkV1kIQEMouw 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..8180f56ecc --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14822765.2 %
Date:2023-12-06 10:06:33Functions:6875.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::constraint_manager::ConstraintManager::callbackSetConstraints(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::constraint_manager::ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&, mrs_msgs::ConstraintsOverrideResponse_<std::allocator<void> >&)0
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)47
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()47
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)696
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&)1269
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)7192
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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..759cf5986b --- /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
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Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14822765.2 %
Date:2023-12-06 10:06:33Functions: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()47
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)47
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&)1269
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)696
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&)7192
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()47
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..0360404b95 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.html new file mode 100644 index 0000000000..c6a7256d0b --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.html @@ -0,0 +1,706 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14822765.2 %
Date:2023-12-06 10:06:33Functions:6875.0 %
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_msgs/String.h>
+       7             : 
+       8             : #include <mrs_msgs/ConstraintManagerDiagnostics.h>
+       9             : #include <mrs_msgs/EstimationDiagnostics.h>
+      10             : #include <mrs_msgs/DynamicsConstraintsSrv.h>
+      11             : #include <mrs_msgs/DynamicsConstraintsSrvRequest.h>
+      12             : #include <mrs_msgs/String.h>
+      13             : #include <mrs_msgs/ConstraintsOverride.h>
+      14             : 
+      15             : #include <mrs_lib/profiler.h>
+      16             : #include <mrs_lib/scope_timer.h>
+      17             : #include <mrs_lib/param_loader.h>
+      18             : #include <mrs_lib/mutex.h>
+      19             : #include <mrs_lib/publisher_handler.h>
+      20             : #include <mrs_lib/service_client_handler.h>
+      21             : #include <mrs_lib/subscribe_handler.h>
+      22             : 
+      23             : #include <dynamic_reconfigure/ReconfigureRequest.h>
+      24             : #include <dynamic_reconfigure/Reconfigure.h>
+      25             : #include <dynamic_reconfigure/Config.h>
+      26             : 
+      27             : //}
+      28             : 
+      29             : namespace mrs_uav_managers
+      30             : {
+      31             : 
+      32             : namespace constraint_manager
+      33             : {
+      34             : 
+      35             : /* //{ class ConstraintManager */
+      36             : 
+      37             : class ConstraintManager : public nodelet::Nodelet {
+      38             : 
+      39             : public:
+      40             :   virtual void onInit();
+      41             : 
+      42             : private:
+      43             :   ros::NodeHandle nh_;
+      44             :   bool            is_initialized_ = false;
+      45             : 
+      46             :   // | ----------------------- parameters ----------------------- |
+      47             : 
+      48             :   std::vector<std::string> _estimator_type_names_;
+      49             : 
+      50             :   std::vector<std::string>                                       _constraint_names_;
+      51             :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest> _constraints_;
+      52             : 
+      53             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_constraints_;
+      54             :   std::map<std::string, std::string>              _map_type_default_constraints_;
+      55             : 
+      56             :   // | --------------------- service clients -------------------- |
+      57             : 
+      58             :   mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> sc_set_constraints_;
+      59             : 
+      60             :   // | ----------------------- subscribers ---------------------- |
+      61             : 
+      62             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+      63             : 
+      64             :   // | ------------- constraint management ------------- |
+      65             : 
+      66             :   bool setConstraints(std::string constraints_names);
+      67             : 
+      68             :   ros::ServiceServer service_server_set_constraints_;
+      69             :   bool               callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      70             : 
+      71             :   std::string last_estimator_name_;
+      72             :   std::mutex  mutex_last_estimator_name_;
+      73             : 
+      74             :   void       timerConstraintManagement(const ros::TimerEvent& event);
+      75             :   ros::Timer timer_constraint_management_;
+      76             :   double     _constraint_management_rate_;
+      77             : 
+      78             :   std::string current_constraints_;
+      79             :   std::mutex  mutex_current_constraints_;
+      80             : 
+      81             :   // | ------------------ constraints override ------------------ |
+      82             : 
+      83             :   ros::ServiceServer service_server_constraints_override_;
+      84             :   bool               callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res);
+      85             : 
+      86             :   std::atomic<bool>                    override_constraints_         = false;
+      87             :   std::atomic<bool>                    constraints_override_updated_ = false;
+      88             :   std::mutex                           mutex_constraints_override_;
+      89             :   mrs_msgs::ConstraintsOverrideRequest constraints_override_;
+      90             : 
+      91             :   // | ------------------ diagnostics publisher ----------------- |
+      92             : 
+      93             :   mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics> ph_diagnostics_;
+      94             : 
+      95             :   void       timerDiagnostics(const ros::TimerEvent& event);
+      96             :   ros::Timer timer_diagnostics_;
+      97             :   double     _diagnostics_rate_;
+      98             : 
+      99             :   // | ------------------------ profiler ------------------------ |
+     100             : 
+     101             :   mrs_lib::Profiler profiler_;
+     102             :   bool              _profiler_enabled_ = false;
+     103             : 
+     104             :   // | ------------------- scope timer logger ------------------- |
+     105             : 
+     106             :   bool                                       scope_timer_enabled_ = false;
+     107             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     108             : 
+     109             :   // | ------------------------- helpers ------------------------ |
+     110             : 
+     111             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     112             : };
+     113             : 
+     114             : //}
+     115             : 
+     116             : /* //{ onInit() */
+     117             : 
+     118          47 : void ConstraintManager::onInit() {
+     119             : 
+     120          47 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     121             : 
+     122          47 :   ros::Time::waitForValid();
+     123             : 
+     124          47 :   ROS_INFO("[ConstraintManager]: initializing");
+     125             : 
+     126             :   // | ------------------------- params ------------------------- |
+     127             : 
+     128          94 :   mrs_lib::ParamLoader param_loader(nh_, "ConstraintManager");
+     129             : 
+     130          94 :   std::string custom_config_path;
+     131          94 :   std::string platform_config_path;
+     132             : 
+     133          47 :   param_loader.loadParam("custom_config", custom_config_path);
+     134          47 :   param_loader.loadParam("platform_config", platform_config_path);
+     135             : 
+     136          47 :   if (custom_config_path != "") {
+     137          47 :     param_loader.addYamlFile(custom_config_path);
+     138             :   }
+     139             : 
+     140          47 :   if (platform_config_path != "") {
+     141          47 :     param_loader.addYamlFile(platform_config_path);
+     142             :   }
+     143             : 
+     144          47 :   param_loader.addYamlFileFromParam("private_config");
+     145          47 :   param_loader.addYamlFileFromParam("public_config");
+     146          47 :   param_loader.addYamlFileFromParam("public_constraints");
+     147             : 
+     148          94 :   const std::string yaml_prefix = "mrs_uav_managers/constraint_manager/";
+     149             : 
+     150             :   // params passed from the launch file are not prefixed
+     151          47 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     152             : 
+     153          47 :   param_loader.loadParam(yaml_prefix + "constraints", _constraint_names_);
+     154             : 
+     155          47 :   param_loader.loadParam(yaml_prefix + "estimator_types", _estimator_type_names_);
+     156             : 
+     157          47 :   param_loader.loadParam(yaml_prefix + "rate", _constraint_management_rate_);
+     158          47 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     159             : 
+     160          47 :   std::vector<std::string>::iterator it;
+     161             : 
+     162             :   // loading constraint names
+     163         188 :   for (it = _constraint_names_.begin(); it != _constraint_names_.end(); ++it) {
+     164             : 
+     165         141 :     ROS_INFO_STREAM("[ConstraintManager]: loading constraints '" << *it << "'");
+     166             : 
+     167         141 :     mrs_msgs::DynamicsConstraintsSrvRequest new_constraints;
+     168             : 
+     169         141 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/speed", new_constraints.constraints.horizontal_speed);
+     170         141 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/acceleration", new_constraints.constraints.horizontal_acceleration);
+     171         141 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/jerk", new_constraints.constraints.horizontal_jerk);
+     172         141 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/snap", new_constraints.constraints.horizontal_snap);
+     173             : 
+     174         141 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/speed", new_constraints.constraints.vertical_ascending_speed);
+     175         141 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/acceleration", new_constraints.constraints.vertical_ascending_acceleration);
+     176         141 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/jerk", new_constraints.constraints.vertical_ascending_jerk);
+     177         141 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/snap", new_constraints.constraints.vertical_ascending_snap);
+     178             : 
+     179         141 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/speed", new_constraints.constraints.vertical_descending_speed);
+     180         141 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/acceleration", new_constraints.constraints.vertical_descending_acceleration);
+     181         141 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/jerk", new_constraints.constraints.vertical_descending_jerk);
+     182         141 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/snap", new_constraints.constraints.vertical_descending_snap);
+     183             : 
+     184         141 :     param_loader.loadParam(yaml_prefix + *it + "/heading/speed", new_constraints.constraints.heading_speed);
+     185         141 :     param_loader.loadParam(yaml_prefix + *it + "/heading/acceleration", new_constraints.constraints.heading_acceleration);
+     186         141 :     param_loader.loadParam(yaml_prefix + *it + "/heading/jerk", new_constraints.constraints.heading_jerk);
+     187         141 :     param_loader.loadParam(yaml_prefix + *it + "/heading/snap", new_constraints.constraints.heading_snap);
+     188             : 
+     189         141 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/roll", new_constraints.constraints.roll_rate);
+     190         141 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/pitch", new_constraints.constraints.pitch_rate);
+     191         141 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/yaw", new_constraints.constraints.yaw_rate);
+     192             : 
+     193             :     double tilt_deg;
+     194             : 
+     195         141 :     param_loader.loadParam(yaml_prefix + *it + "/tilt", tilt_deg);
+     196             : 
+     197         141 :     new_constraints.constraints.tilt = M_PI * (tilt_deg / 180.0);
+     198             : 
+     199         141 :     _constraints_.insert(std::pair<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>(*it, new_constraints));
+     200             :   }
+     201             : 
+     202             :   // loading the allowed constraints lists
+     203         376 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     204             : 
+     205         329 :     std::vector<std::string> temp_vector;
+     206         329 :     param_loader.loadParam(yaml_prefix + "allowed_constraints/" + *it, temp_vector);
+     207             : 
+     208         329 :     std::vector<std::string>::iterator it2;
+     209        1222 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     210         893 :       if (!stringInVector(*it2, _constraint_names_)) {
+     211           0 :         ROS_ERROR("[ConstraintManager]: the element '%s' of %s/allowed_constraints is not a valid constraint!", it2->c_str(), it->c_str());
+     212           0 :         ros::shutdown();
+     213             :       }
+     214             :     }
+     215             : 
+     216         329 :     _map_type_allowed_constraints_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     217             :   }
+     218             : 
+     219             :   // loading the default constraints
+     220         376 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     221             : 
+     222         329 :     std::string temp_str;
+     223         329 :     param_loader.loadParam(yaml_prefix + "default_constraints/" + *it, temp_str);
+     224             : 
+     225         329 :     if (!stringInVector(temp_str, _map_type_allowed_constraints_.at(*it))) {
+     226           0 :       ROS_ERROR("[ConstraintManager]: the element '%s' of %s/allowed_constraints is not a valid constraint!", temp_str.c_str(), it->c_str());
+     227           0 :       ros::shutdown();
+     228             :     }
+     229             : 
+     230         329 :     _map_type_default_constraints_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     231             :   }
+     232             : 
+     233          47 :   ROS_INFO("[ConstraintManager]: done loading dynamical params");
+     234             : 
+     235          47 :   current_constraints_ = "";
+     236          47 :   last_estimator_name_ = "";
+     237             : 
+     238             :   // | ------------------------ services ------------------------ |
+     239             : 
+     240          47 :   service_server_set_constraints_ = nh_.advertiseService("set_constraints_in", &ConstraintManager::callbackSetConstraints, this);
+     241             : 
+     242          47 :   service_server_constraints_override_ = nh_.advertiseService("constraints_override_in", &ConstraintManager::callbackConstraintsOverride, this);
+     243             : 
+     244          47 :   sc_set_constraints_ = mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>(nh_, "set_constraints_out");
+     245             : 
+     246             :   // | ----------------------- subscribers ---------------------- |
+     247             : 
+     248          94 :   mrs_lib::SubscribeHandlerOptions shopts;
+     249          47 :   shopts.nh                 = nh_;
+     250          47 :   shopts.node_name          = "ConstraintManager";
+     251          47 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     252          47 :   shopts.threadsafe         = true;
+     253          47 :   shopts.autostart          = true;
+     254          47 :   shopts.queue_size         = 10;
+     255          47 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     256             : 
+     257          47 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     258             : 
+     259             :   // | ----------------------- publishers ----------------------- |
+     260             : 
+     261          47 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     262             : 
+     263             :   // | ------------------------- timers ------------------------- |
+     264             : 
+     265          47 :   timer_constraint_management_ = nh_.createTimer(ros::Rate(_constraint_management_rate_), &ConstraintManager::timerConstraintManagement, this);
+     266          47 :   timer_diagnostics_           = nh_.createTimer(ros::Rate(_diagnostics_rate_), &ConstraintManager::timerDiagnostics, this);
+     267             : 
+     268             :   // | ------------------------ profiler ------------------------ |
+     269             : 
+     270          47 :   profiler_ = mrs_lib::Profiler(nh_, "ConstraintManager", _profiler_enabled_);
+     271             : 
+     272             :   // | ------------------- scope timer logger ------------------- |
+     273             : 
+     274          47 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     275         141 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     276          47 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     277             : 
+     278             :   // | ----------------------- finish init ---------------------- |
+     279             : 
+     280          47 :   if (!param_loader.loadedSuccessfully()) {
+     281           0 :     ROS_ERROR("[ConstraintManager]: Could not load all parameters!");
+     282           0 :     ros::shutdown();
+     283             :   }
+     284             : 
+     285          47 :   is_initialized_ = true;
+     286             : 
+     287          47 :   ROS_INFO("[ConstraintManager]: initialized");
+     288             : 
+     289          47 :   ROS_DEBUG("[ConstraintManager]: debug output is enabled");
+     290          47 : }
+     291             : 
+     292             : //}
+     293             : 
+     294             : // --------------------------------------------------------------
+     295             : // |                           methods                          |
+     296             : // --------------------------------------------------------------
+     297             : 
+     298             : /* setConstraints() //{ */
+     299             : 
+     300          47 : bool ConstraintManager::setConstraints(std::string constraints_name) {
+     301             : 
+     302          47 :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     303          47 :   it = _constraints_.find(constraints_name);
+     304             : 
+     305          47 :   if (it == _constraints_.end()) {
+     306           0 :     ROS_ERROR("[ConstraintManager]: could not setConstraints(), the constraint name '%s' is not on the list", constraints_name.c_str());
+     307           0 :     return false;
+     308             :   }
+     309             : 
+     310          94 :   mrs_msgs::DynamicsConstraintsSrv srv_call;
+     311             : 
+     312          47 :   srv_call.request = it->second;
+     313             : 
+     314          47 :   if (override_constraints_) {
+     315             : 
+     316           0 :     auto constraints_override = mrs_lib::get_mutexed(mutex_constraints_override_, constraints_override_);
+     317             : 
+     318           0 :     if (constraints_override.acceleration_horizontal > 0 &&
+     319           0 :         constraints_override.acceleration_horizontal <= srv_call.request.constraints.horizontal_acceleration) {
+     320           0 :       srv_call.request.constraints.horizontal_acceleration = constraints_override.acceleration_horizontal;
+     321             :     } else {
+     322           0 :       ROS_ERROR_THROTTLE(1.0, "[ConstraintManager]: required horizontal acceleration override is out of bounds");
+     323             :     }
+     324             : 
+     325           0 :     if (constraints_override.acceleration_vertical > 0 &&
+     326           0 :         constraints_override.acceleration_vertical <= srv_call.request.constraints.vertical_ascending_acceleration &&
+     327           0 :         constraints_override.acceleration_vertical <= srv_call.request.constraints.vertical_descending_acceleration) {
+     328           0 :       srv_call.request.constraints.vertical_ascending_acceleration  = constraints_override.acceleration_vertical;
+     329           0 :       srv_call.request.constraints.vertical_descending_acceleration = constraints_override.acceleration_vertical;
+     330             :     } else {
+     331           0 :       ROS_ERROR_THROTTLE(1.0, "[ConstraintManager]: required vertical acceleration override is out of bounds");
+     332             :     }
+     333             :   }
+     334             : 
+     335          47 :   bool res = sc_set_constraints_.call(srv_call);
+     336             : 
+     337          47 :   if (!res) {
+     338             : 
+     339           0 :     ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the service for setting constraints has failed!");
+     340           0 :     return false;
+     341             : 
+     342             :   } else {
+     343             : 
+     344          47 :     if (srv_call.response.success) {
+     345             : 
+     346          47 :       mrs_lib::set_mutexed(mutex_current_constraints_, constraints_name, current_constraints_);
+     347          47 :       return true;
+     348             : 
+     349             :     } else {
+     350             : 
+     351           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: set service for setting constraints returned: '%s'", srv_call.response.message.c_str());
+     352           0 :       return false;
+     353             :     }
+     354             :   }
+     355             : }
+     356             : 
+     357             : //}
+     358             : 
+     359             : // --------------------------------------------------------------
+     360             : // |                          callbacks                         |
+     361             : // --------------------------------------------------------------
+     362             : 
+     363             : // | -------------------- service callbacks ------------------- |
+     364             : 
+     365             : /* //{ callbackSetConstraints() */
+     366             : 
+     367           0 : bool ConstraintManager::callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+     368             : 
+     369           0 :   if (!is_initialized_) {
+     370           0 :     return false;
+     371             :   }
+     372             : 
+     373           0 :   std::stringstream ss;
+     374             : 
+     375           0 :   if (!sh_estimation_diag_.hasMsg()) {
+     376             : 
+     377           0 :     ss << "missing odometry diagnostics";
+     378             : 
+     379           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     380             : 
+     381           0 :     res.message = ss.str();
+     382           0 :     res.success = false;
+     383           0 :     return true;
+     384             :   }
+     385             : 
+     386           0 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     387             : 
+     388           0 :   if (!stringInVector(req.value, _constraint_names_)) {
+     389             : 
+     390           0 :     ss << "the constraints '" << req.value.c_str() << "' do not exist (in the ConstraintManager's config)";
+     391             : 
+     392           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     393             : 
+     394           0 :     res.message = ss.str();
+     395           0 :     res.success = false;
+     396           0 :     return true;
+     397             :   }
+     398             : 
+     399           0 :   if (!stringInVector(req.value, _map_type_allowed_constraints_.at(estimation_diagnostics.current_state_estimator))) {
+     400             : 
+     401           0 :     ss << "the constraints '" << req.value.c_str() << "' are not allowed given the current odometry type";
+     402             : 
+     403           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     404             : 
+     405           0 :     res.message = ss.str();
+     406           0 :     res.success = false;
+     407           0 :     return true;
+     408             :   }
+     409             : 
+     410           0 :   override_constraints_ = false;
+     411             : 
+     412             :   // try to set the constraints
+     413           0 :   if (!setConstraints(req.value)) {
+     414             : 
+     415           0 :     ss << "the ControlManager could not set the constraints";
+     416             : 
+     417           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     418             : 
+     419           0 :     res.message = ss.str();
+     420           0 :     res.success = false;
+     421           0 :     return true;
+     422             : 
+     423             :   } else {
+     424             : 
+     425           0 :     ss << "the constraints '" << req.value.c_str() << "' were set";
+     426             : 
+     427           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     428             : 
+     429           0 :     res.message = ss.str();
+     430           0 :     res.success = true;
+     431           0 :     return true;
+     432             :   }
+     433             : }
+     434             : 
+     435             : //}
+     436             : 
+     437             : /* callackConstraintsOverride() //{ */
+     438             : 
+     439           0 : bool ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res) {
+     440             : 
+     441           0 :   if (!is_initialized_) {
+     442           0 :     return false;
+     443             :   }
+     444             : 
+     445             :   {
+     446           0 :     std::scoped_lock lock(mutex_constraints_override_);
+     447             : 
+     448           0 :     constraints_override_ = req;
+     449             :   }
+     450             : 
+     451           0 :   override_constraints_         = true;
+     452           0 :   constraints_override_updated_ = true;
+     453             : 
+     454           0 :   ROS_INFO_THROTTLE(0.1, "[ConstraintManager]: setting constraints override");
+     455             : 
+     456           0 :   res.message = "override set";
+     457           0 :   res.success = true;
+     458             : 
+     459           0 :   return true;
+     460             : }
+     461             : 
+     462             : //}
+     463             : 
+     464             : // --------------------------------------------------------------
+     465             : // |                           timers                           |
+     466             : // --------------------------------------------------------------
+     467             : 
+     468             : /* timerConstraintManagement() //{ */
+     469             : 
+     470        7192 : void ConstraintManager::timerConstraintManagement(const ros::TimerEvent& event) {
+     471             : 
+     472        7192 :   if (!is_initialized_) {
+     473        2384 :     return;
+     474             :   }
+     475             : 
+     476       14384 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerConstraintManagement", _constraint_management_rate_, 0.01, event);
+     477       14384 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerConstraintManagement", scope_timer_logger_, scope_timer_enabled_);
+     478             : 
+     479        7192 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     480        7192 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     481             : 
+     482        7192 :   if (!sh_estimation_diag_.hasMsg()) {
+     483        2384 :     return;
+     484             :   }
+     485             : 
+     486        4808 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     487             : 
+     488             :   // | --- automatically set constraints when the state estimator changes -- |
+     489        4808 :   if (estimation_diagnostics.current_state_estimator != last_estimator_name_) {
+     490             : 
+     491          47 :     ROS_INFO_THROTTLE(1.0, "[ConstraintManager]: the state estimator has changed! %s -> %s", last_estimator_name_.c_str(),
+     492             :                       estimation_diagnostics.current_state_estimator.c_str());
+     493             : 
+     494          47 :     std::map<std::string, std::string>::iterator it;
+     495          47 :     it = _map_type_default_constraints_.find(estimation_diagnostics.current_state_estimator);
+     496             : 
+     497          47 :     if (it == _map_type_default_constraints_.end()) {
+     498             : 
+     499           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the state estimator type '%s' was not specified in the constraint_manager's config!",
+     500             :                         estimation_diagnostics.current_state_estimator.c_str());
+     501             : 
+     502             :     } else {
+     503             : 
+     504             :       // if the current constraints are within the allowed state estimator types, do nothing
+     505          47 :       if (stringInVector(current_constraints, _map_type_allowed_constraints_.at(estimation_diagnostics.current_state_estimator))) {
+     506             : 
+     507           0 :         last_estimator_name = estimation_diagnostics.current_state_estimator;
+     508             : 
+     509             :         // else, try to set the initial constraints
+     510             :       } else {
+     511             : 
+     512          47 :         ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the current constraints '%s' are not within the allowed constraints for '%s'", current_constraints.c_str(),
+     513             :                           estimation_diagnostics.current_state_estimator.c_str());
+     514             : 
+     515          47 :         if (setConstraints(it->second)) {
+     516             : 
+     517          47 :           last_estimator_name = estimation_diagnostics.current_state_estimator;
+     518             : 
+     519          47 :           ROS_INFO_THROTTLE(1.0, "[ConstraintManager]: constraints set to initial: '%s'", it->second.c_str());
+     520             : 
+     521             :         } else {
+     522             : 
+     523           0 :           ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: could not set constraints!");
+     524             :         }
+     525             :       }
+     526             :     }
+     527             :   }
+     528             : 
+     529        4808 :   if (constraints_override_updated_) {
+     530             : 
+     531           0 :     std::map<std::string, std::string>::iterator it;
+     532           0 :     it = _map_type_default_constraints_.find(last_estimator_name_);
+     533             : 
+     534           0 :     ROS_INFO_THROTTLE(0.1, "[ConstraintManager]: re-setting constraints with user value override");
+     535             : 
+     536           0 :     if (setConstraints(it->second)) {
+     537           0 :       constraints_override_updated_ = false;
+     538             :     } else {
+     539           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: could not re-set the constraints!");
+     540             :     }
+     541             :   }
+     542             : 
+     543        4808 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     544             : }
+     545             : 
+     546             : //}
+     547             : 
+     548             : /* timerDiagnostics() //{ */
+     549             : 
+     550         696 : void ConstraintManager::timerDiagnostics(const ros::TimerEvent& event) {
+     551             : 
+     552         696 :   if (!is_initialized_) {
+     553         234 :     return;
+     554             :   }
+     555             : 
+     556        1392 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     557        1392 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     558             : 
+     559         696 :   if (!sh_estimation_diag_.hasMsg()) {
+     560         234 :     ROS_WARN_THROTTLE(10.0, "[ConstraintManager]: can not do constraint management, missing estimation diagnostics!");
+     561         234 :     return;
+     562             :   }
+     563             : 
+     564         924 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     565             : 
+     566         924 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     567             : 
+     568         924 :   mrs_msgs::ConstraintManagerDiagnostics diagnostics;
+     569             : 
+     570         462 :   diagnostics.stamp        = ros::Time::now();
+     571         462 :   diagnostics.current_name = current_constraints;
+     572         462 :   diagnostics.loaded       = _constraint_names_;
+     573             : 
+     574             :   // get the available constraints
+     575             :   {
+     576         462 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     577         462 :     it = _map_type_allowed_constraints_.find(estimation_diagnostics.current_state_estimator);
+     578             : 
+     579         462 :     if (it == _map_type_allowed_constraints_.end()) {
+     580           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the odometry.type '%s' was not specified in the constraint_manager's config!",
+     581             :                         estimation_diagnostics.current_state_estimator.c_str());
+     582             :     } else {
+     583         462 :       diagnostics.available = it->second;
+     584             :     }
+     585             :   }
+     586             : 
+     587             :   // get the current constraint values
+     588             :   {
+     589         462 :     std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     590         462 :     it = _constraints_.find(current_constraints);
+     591             : 
+     592         462 :     diagnostics.current_values = it->second.constraints;
+     593             :   }
+     594             : 
+     595         462 :   ph_diagnostics_.publish(diagnostics);
+     596             : }
+     597             : 
+     598             : //}
+     599             : 
+     600             : // --------------------------------------------------------------
+     601             : // |                          routines                          |
+     602             : // --------------------------------------------------------------
+     603             : 
+     604             : /* stringInVector() //{ */
+     605             : 
+     606        1269 : bool ConstraintManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     607             : 
+     608        1269 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     609          47 :     return false;
+     610             :   } else {
+     611        1222 :     return true;
+     612             :   }
+     613             : }
+     614             : 
+     615             : //}
+     616             : 
+     617             : }  // namespace constraint_manager
+     618             : 
+     619             : }  // namespace mrs_uav_managers
+     620             : 
+     621             : #include <pluginlib/class_list_macros.h>
+     622          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::constraint_manager::ConstraintManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..9a046a2692 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html @@ -0,0 +1,176 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.png b/mrs_uav_managers/src/constraint_manager.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..9ae1d964f15f811ca5d79039c0f6b44997d706ce GIT binary patch literal 2171 zcmV->2!!{EP)!T1s;KO`*+mrIUdn^6rG`EmP#e05rgF98fy{m zr;)5{;LpV{WybbtU595vkTB%~d`dMOj~QYskKa>I99&a;jqf!KF2Z{fLifPBnO3#A zPDYGlgq`jPFWw;`>H`x7fSm7;egnBXKDDe?#r)iM%@ zX!*eI-KNLsj>UX|_I_2{pfIEVH?;{vya^)!FCytOqHINX)f@4rvkDu3s=Rl+1~St!^ZhlR_a3;XdmYz1hqOMon#q(a1IGArMa+0y8@F zdqQh00pTJ=jD)>}aRSK*MLaq_HH1BdIUzd>BUaDaQyBjs>3WqAhC!hr>}Hu&EX*P# zT$DUsX z)>A0?7!$@W*XWN`UAz8?z764udUI=EG|=J+QQQo)g0tA+eYOv7$N6PmKl>5iM1=1` zGlWNpAQ1LH{$x`CWYj<8xEzm9Ij$Y?0z#ybX2(U#8M(W$ST~b+*#{Dqy+`O}?;qhk z`KC*VaFJQ7Qhe4-iJ2hheliWN~*vL&oOBlR- zWp@@Mq9;T@lj=z{#1gI!k=^e}yS^oKh&OwC9yGUN%P4%(DcXudULp<~c(NG3nkGQ%d2BpG=P#AG3x_;yY zve;tr1FmsO5B~>1C`8or*sUl(+tE(E1E!>Er{I^QWxI~Ah`w8#!b|`Qn=AuDb^?IO z%{d)d!rjjYUzq@~McUNkkrqbPdPKC1S0I!k8inuCEXRjwgG}9a4&P~vecum6n7M@~ zL~Ib*Fam{yW=#?C2oaCuaSu-qq|K~)uyzXS!P@z#2uZro-iMIz2!!1f9ub8K@4g_t z%#bIh$j0HymI>4j*Jxk(xP#YAk00SgDr~31tE-JUg{J`|GofiV*w{@ebn4>>mr@Oo zvg`i(c?*s02=9&kz~Fk|M$TUoXl5bfqk$$aEyUHhRmF-U&b!;g*AKU@0I<5VuYyi~)dV#!XBJBXNg+ zI6@ubZ!sZM2hV~cYBuX|sPimD2C4UO3u2}B#POc35C7K*K+0qP#HT#2kD!U4Hm>gi zq~7ED2WB4~Hj*WAxM{yD4i_6c4uwoj^^p`DO@&qA(FMu;B{#^1bo}##!Zxs*4`JfE zUe$Q@T??k3_aL;O!i0a%hDLTf^iQ0e**3O+vG_QCaDHR4e}`M+Ux>`Px|l$ zY*V;lY&Ql+y70oO30}3Vt>#8I02cT25;o3#V_2}#EA+@5V5ilU*Kq+m1%Rfk$4yI# zt?E)jA>zBZXTRI0BZ}Idess9E=&H6y>!5R5K2I1^YZ;^#_Eh@N zWO0LClt4PprsSO!X(U394Ibki$0bou$-{MBCs(MLTN*;kVBXj&NY&g^(2vv7s`8%x zHcZDU4v76;oEz7Y81iCK*!kBE;}pxV&@w2MLi$Y9W41_&X>QvVNs`bwUamcvhDsME zdCu!8m~E`udWzf|{XXB9>nZ4#)bGlx6~*nzoU2zUAd}C)E24{TaQ(|?%EG9U3gn{x zG29;n*MWaa_VGj(mpAI7Xa%AHh&uR=n9LpK-Yi$-e_G+I%fT zDlAC5f5=XoOY8d}4&h!%KPzcxCyZ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22656340.1 %
Date:2023-12-06 10:06:33Functions:213167.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)0
mrs_uav_managers::control_manager::validateOdometry(nav_msgs::Odometry_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiPositionCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> >&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::validateVelocityReference(mrs_msgs::VelocityReference_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, double const&, double const&)1
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&)2
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&)47
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&)366
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&)511
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&)514
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&)729
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&)871
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&)891
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&)1030
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, double const&)2295
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&)2298
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)2533
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&)2762
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&)2955
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&)20854
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&)30514
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&)32926
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&)36128
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)42990
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&)43552
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.func.html b/mrs_uav_managers/src/control_manager/common/common.cpp.func.html new file mode 100644 index 0000000000..12ee4180ef --- /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:22656340.1 %
Date:2023-12-06 10:06:33Functions: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&)729
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)2533
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)42990
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)0
mrs_uav_managers::control_manager::validateOdometry(nav_msgs::Odometry_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::control_manager::validateUavState(mrs_msgs::UavState_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)43552
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&)1030
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, double const&, double const&)1
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&)2
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&)2295
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&)32926
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&)30514
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&)2298
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&)2955
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&)36128
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&)366
mrs_uav_managers::control_manager::validateVelocityReference(mrs_msgs::VelocityReference_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::control_manager::loadDetailedUavModelParams(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
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&)511
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&)20854
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&)2762
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&)871
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&)514
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&)891
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.frameset.html b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.frameset.html new file mode 100644 index 0000000000..41b7eb37bb --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html new file mode 100644 index 0000000000..2090020c05 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html @@ -0,0 +1,1301 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22656340.1 %
Date:2023-12-06 10:06:33Functions:213167.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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         729 : std::optional<unsigned int> idxInVector(const std::string& str, const std::vector<std::string>& vec) {
+      12             : 
+      13        2093 :   for (unsigned int i = 0; i < vec.size(); i++) {
+      14        2093 :     if (str == vec[i]) {
+      15         729 :       return {i};
+      16             :     }
+      17             :   }
+      18             : 
+      19           0 :   return {};
+      20             : }
+      21             : 
+      22             : //}
+      23             : 
+      24             : /* validateTrackerCommand() //{ */
+      25             : 
+      26       30514 : bool validateTrackerCommand(const std::optional<mrs_msgs::TrackerCommand>& msg, const std::string& node_name, const std::string& var_name) {
+      27             : 
+      28       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   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       30514 :   return true;
+     165             : }
+     166             : 
+     167             : //}
+     168             : 
+     169             : /* validateOdometry() //{ */
+     170             : 
+     171           0 : bool validateOdometry(const nav_msgs::Odometry& msg, const std::string& node_name, const std::string& var_name) {
+     172             : 
+     173             :   // check position
+     174             : 
+     175           0 :   if (!std::isfinite(msg.pose.pose.position.x)) {
+     176           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.position.x'!!!", node_name.c_str(), var_name.c_str());
+     177           0 :     return false;
+     178             :   }
+     179             : 
+     180           0 :   if (!std::isfinite(msg.pose.pose.position.y)) {
+     181           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.position.y'!!!", node_name.c_str(), var_name.c_str());
+     182           0 :     return false;
+     183             :   }
+     184             : 
+     185           0 :   if (!std::isfinite(msg.pose.pose.position.z)) {
+     186           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.position.z'!!!", node_name.c_str(), var_name.c_str());
+     187           0 :     return false;
+     188             :   }
+     189             : 
+     190             :   // check orientation
+     191             : 
+     192           0 :   if (!std::isfinite(msg.pose.pose.orientation.x)) {
+     193           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.x'!!!", node_name.c_str(), var_name.c_str());
+     194           0 :     return false;
+     195             :   }
+     196             : 
+     197           0 :   if (!std::isfinite(msg.pose.pose.orientation.y)) {
+     198           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.y'!!!", node_name.c_str(), var_name.c_str());
+     199           0 :     return false;
+     200             :   }
+     201             : 
+     202           0 :   if (!std::isfinite(msg.pose.pose.orientation.z)) {
+     203           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.z'!!!", node_name.c_str(), var_name.c_str());
+     204           0 :     return false;
+     205             :   }
+     206             : 
+     207           0 :   if (!std::isfinite(msg.pose.pose.orientation.w)) {
+     208           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.w'!!!", node_name.c_str(), var_name.c_str());
+     209           0 :     return false;
+     210             :   }
+     211             : 
+     212             :   // check velocity
+     213             : 
+     214           0 :   if (!std::isfinite(msg.twist.twist.linear.x)) {
+     215           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.twist.twist.linear.x'!!!", node_name.c_str(), var_name.c_str());
+     216           0 :     return false;
+     217             :   }
+     218             : 
+     219           0 :   if (!std::isfinite(msg.twist.twist.linear.y)) {
+     220           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.twist.twist.linear.y'!!!", node_name.c_str(), var_name.c_str());
+     221           0 :     return false;
+     222             :   }
+     223             : 
+     224           0 :   if (!std::isfinite(msg.twist.twist.linear.z)) {
+     225           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.twist.twist.linear.z'!!!", node_name.c_str(), var_name.c_str());
+     226           0 :     return false;
+     227             :   }
+     228             : 
+     229           0 :   return true;
+     230             : }
+     231             : 
+     232             : //}
+     233             : 
+     234             : /* validateVelocityReference() //{ */
+     235             : 
+     236           0 : bool validateVelocityReference(const mrs_msgs::VelocityReference& msg, const std::string& node_name, const std::string& var_name) {
+     237             : 
+     238             :   // check velocity
+     239             : 
+     240           0 :   if (!std::isfinite(msg.velocity.x)) {
+     241           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     242           0 :     return false;
+     243             :   }
+     244             : 
+     245           0 :   if (!std::isfinite(msg.velocity.y)) {
+     246           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     247           0 :     return false;
+     248             :   }
+     249             : 
+     250           0 :   if (!std::isfinite(msg.velocity.z)) {
+     251           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     252           0 :     return false;
+     253             :   }
+     254             : 
+     255           0 :   if (!std::isfinite(msg.altitude)) {
+     256           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.altitude'!!!", node_name.c_str(), var_name.c_str());
+     257           0 :     return false;
+     258             :   }
+     259             : 
+     260           0 :   if (!std::isfinite(msg.heading)) {
+     261           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     262           0 :     return false;
+     263             :   }
+     264             : 
+     265           0 :   if (!std::isfinite(msg.heading_rate)) {
+     266           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     267           0 :     return false;
+     268             :   }
+     269             : 
+     270           0 :   return true;
+     271             : }
+     272             : 
+     273             : //}
+     274             : 
+     275             : /* validateReference() //{ */
+     276             : 
+     277        1030 : bool validateReference(const mrs_msgs::Reference& msg, const std::string& node_name, const std::string& var_name) {
+     278             : 
+     279             :   // check position
+     280             : 
+     281        1030 :   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        1030 :   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        1030 :   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        1030 :   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        1030 :   return true;
+     304             : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* validateUavState() //{ */
+     309             : 
+     310       43552 : bool validateUavState(const mrs_msgs::UavState& msg, const std::string& node_name, const std::string& var_name) {
+     311             : 
+     312             :   // check position
+     313             : 
+     314       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   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       43552 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* RCChannelToRange() //{ */
+     459             : 
+     460           0 : double RCChannelToRange(double rc_value, double range, double deadband) {
+     461             : 
+     462           0 :   double tmp_neg1_to_1 = (rc_value - 0.5) * 2.0;
+     463             : 
+     464           0 :   if (tmp_neg1_to_1 > 1.0) {
+     465           0 :     tmp_neg1_to_1 = 1.0;
+     466           0 :   } else if (tmp_neg1_to_1 < -1.0) {
+     467           0 :     tmp_neg1_to_1 = -1.0;
+     468             :   }
+     469             : 
+     470             :   // check the deadband
+     471           0 :   if (tmp_neg1_to_1 < deadband && tmp_neg1_to_1 > -deadband) {
+     472           0 :     return 0.0;
+     473             :   }
+     474             : 
+     475           0 :   if (tmp_neg1_to_1 > 0) {
+     476             : 
+     477           0 :     double tmp = (tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     478             : 
+     479           0 :     return range * tmp;
+     480             : 
+     481             :   } else {
+     482             : 
+     483           0 :     double tmp = (-tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     484             : 
+     485           0 :     return -range * tmp;
+     486             :   }
+     487             : 
+     488             :   return 0.0;
+     489             : }
+     490             : 
+     491             : //}
+     492             : 
+     493             : /* loadDetailedUavModelParams() //{ */
+     494             : 
+     495          47 : 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          94 :   mrs_lib::ParamLoader param_loader(nh, node_name);
+     499             : 
+     500          47 :   if (custom_config != "") {
+     501          47 :     param_loader.addYamlFile(custom_config);
+     502             :   }
+     503             : 
+     504          47 :   if (platform_config != "") {
+     505          47 :     param_loader.addYamlFile(platform_config);
+     506             :   }
+     507             : 
+     508             :   double arm_length;
+     509             :   double body_height;
+     510             :   double force_constant;
+     511             :   double torque_constant;
+     512             :   double prop_radius;
+     513             :   double rpm_min;
+     514             :   double rpm_max;
+     515             :   double mass;
+     516             : 
+     517          47 :   param_loader.loadParam("uav_mass", mass);
+     518             : 
+     519          47 :   param_loader.loadParam("model_params/arm_length", arm_length);
+     520          47 :   param_loader.loadParam("model_params/body_height", body_height);
+     521             : 
+     522          47 :   param_loader.loadParam("model_params/propulsion/force_constant", force_constant);
+     523          47 :   param_loader.loadParam("model_params/propulsion/torque_constant", torque_constant);
+     524          47 :   param_loader.loadParam("model_params/propulsion/prop_radius", prop_radius);
+     525          47 :   param_loader.loadParam("model_params/propulsion/rpm/min", rpm_min);
+     526          47 :   param_loader.loadParam("model_params/propulsion/rpm/max", rpm_max);
+     527             : 
+     528         141 :   Eigen::MatrixXd allocation_matrix = param_loader.loadMatrixDynamic2("model_params/propulsion/allocation_matrix", 4, -1);
+     529             : 
+     530          47 :   if (!param_loader.loadedSuccessfully()) {
+     531           0 :     ROS_INFO("[%s]: detailed model params not loaded, missing some info", node_name.c_str());
+     532           0 :     return {};
+     533             :   }
+     534             : 
+     535          47 :   int n_motors = allocation_matrix.cols();
+     536             : 
+     537          94 :   DetailedModelParams_t model_params;
+     538             : 
+     539          47 :   model_params.arm_length  = arm_length;
+     540          47 :   model_params.body_height = body_height;
+     541          47 :   model_params.prop_radius = prop_radius;
+     542             : 
+     543         141 :   Eigen::MatrixXd inertia_matrix = param_loader.loadMatrixDynamic2("model_params/inertia_matrix", 3, 3);
+     544             : 
+     545          47 :   if (param_loader.loadedSuccessfully()) {
+     546             : 
+     547           0 :     model_params.inertia = inertia_matrix;
+     548           0 :     ROS_INFO("[%s]: inertia loaded from config file:", node_name.c_str());
+     549           0 :     ROS_INFO_STREAM(model_params.inertia);
+     550             : 
+     551             :   } else {
+     552             : 
+     553             :     // create the inertia matrix
+     554          47 :     model_params.inertia       = Eigen::Matrix3d::Zero();
+     555          47 :     model_params.inertia(0, 0) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     556          47 :     model_params.inertia(1, 1) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     557          47 :     model_params.inertia(2, 2) = (mass * arm_length * arm_length) / 2.0;
+     558             : 
+     559          47 :     ROS_INFO("[%s]: inertia computed form parameters:", node_name.c_str());
+     560          47 :     ROS_INFO_STREAM(model_params.inertia);
+     561             :   }
+     562             : 
+     563             :   // create the force-torque allocation matrix
+     564          47 :   model_params.force_torque_mixer = allocation_matrix;
+     565          47 :   model_params.force_torque_mixer.row(0) *= arm_length * force_constant;
+     566          47 :   model_params.force_torque_mixer.row(1) *= arm_length * force_constant;
+     567          47 :   model_params.force_torque_mixer.row(2) *= torque_constant * (3.0 * prop_radius) * force_constant;
+     568          47 :   model_params.force_torque_mixer.row(3) *= force_constant;
+     569             : 
+     570             :   // | ------- create the control group allocation matrix ------- |
+     571             : 
+     572             :   // pseudoinverse of the force-torque matrix (maximum norm)
+     573             :   Eigen::MatrixXd alloc_tmp =
+     574          94 :       model_params.force_torque_mixer.transpose() * (model_params.force_torque_mixer * model_params.force_torque_mixer.transpose()).inverse();
+     575             : 
+     576             :   // | ------------- normalize the allocation matrix ------------ |
+     577             :   // this will make it match the PX4 control group mixing
+     578             : 
+     579             :   // the first two columns (roll, pitch)
+     580         235 :   for (int i = 0; i < n_motors; i++) {
+     581         188 :     alloc_tmp.block(i, 0, 1, 2).normalize();
+     582             :   }
+     583             : 
+     584             :   // the 3rd column (yaw)
+     585         235 :   for (int i = 0; i < n_motors; i++) {
+     586         188 :     if (alloc_tmp(i, 2) > 1e-2) {
+     587          94 :       alloc_tmp(i, 2) = 1.0;
+     588          94 :     } else if (alloc_tmp(i, 2) < -1e-2) {
+     589          94 :       alloc_tmp(i, 2) = -1.0;
+     590             :     } else {
+     591           0 :       alloc_tmp(i, 2) = 0.0;
+     592             :     }
+     593             :   }
+     594             : 
+     595             :   // the 4th column (throttle)
+     596         235 :   for (int i = 0; i < n_motors; i++) {
+     597         188 :     alloc_tmp(i, 3) = 1.0;
+     598             :   }
+     599             : 
+     600          47 :   std::cout << "Control group mixer: " << std::endl << alloc_tmp << std::endl;
+     601             : 
+     602          47 :   model_params.control_group_mixer = alloc_tmp;
+     603             : 
+     604          47 :   return model_params;
+     605             : }
+     606             : 
+     607             : //}
+     608             : 
+     609             : /* getLowestOutput() //{ */
+     610             : 
+     611        2533 : CONTROL_OUTPUT getLowestOuput(const ControlOutputModalities_t& outputs) {
+     612             : 
+     613        2533 :   if (outputs.actuators) {
+     614          16 :     return ACTUATORS_CMD;
+     615             :   }
+     616             : 
+     617        2517 :   if (outputs.control_group) {
+     618          15 :     return CONTROL_GROUP;
+     619             :   }
+     620             : 
+     621        2502 :   if (outputs.attitude_rate) {
+     622        2415 :     return ATTITUDE_RATE;
+     623             :   }
+     624             : 
+     625          87 :   if (outputs.attitude) {
+     626          17 :     return ATTITUDE;
+     627             :   }
+     628             : 
+     629          70 :   if (outputs.acceleration_hdg_rate) {
+     630          15 :     return ACCELERATION_HDG_RATE;
+     631             :   }
+     632             : 
+     633          55 :   if (outputs.acceleration_hdg) {
+     634          15 :     return ACCELERATION_HDG;
+     635             :   }
+     636             : 
+     637          40 :   if (outputs.velocity_hdg_rate) {
+     638          15 :     return VELOCITY_HDG_RATE;
+     639             :   }
+     640             : 
+     641          25 :   if (outputs.velocity_hdg) {
+     642          15 :     return VELOCITY_HDG;
+     643             :   }
+     644             : 
+     645          10 :   return POSITION;
+     646             : }
+     647             : 
+     648             : //}
+     649             : 
+     650             : /* getHighestOutput() //{ */
+     651             : 
+     652           0 : CONTROL_OUTPUT getHighestOuput(const ControlOutputModalities_t& outputs) {
+     653             : 
+     654           0 :   if (outputs.position) {
+     655           0 :     return POSITION;
+     656             :   }
+     657             : 
+     658           0 :   if (outputs.velocity_hdg) {
+     659           0 :     return VELOCITY_HDG;
+     660             :   }
+     661             : 
+     662           0 :   if (outputs.velocity_hdg_rate) {
+     663           0 :     return VELOCITY_HDG_RATE;
+     664             :   }
+     665             : 
+     666           0 :   if (outputs.acceleration_hdg) {
+     667           0 :     return ACCELERATION_HDG;
+     668             :   }
+     669             : 
+     670           0 :   if (outputs.acceleration_hdg_rate) {
+     671           0 :     return ACCELERATION_HDG_RATE;
+     672             :   }
+     673             : 
+     674           0 :   if (outputs.attitude) {
+     675           0 :     return ATTITUDE;
+     676             :   }
+     677             : 
+     678           0 :   if (outputs.attitude_rate) {
+     679           0 :     return ATTITUDE_RATE;
+     680             :   }
+     681             : 
+     682           0 :   if (outputs.control_group) {
+     683           0 :     return CONTROL_GROUP;
+     684             :   }
+     685             : 
+     686           0 :   return ACTUATORS_CMD;
+     687             : }
+     688             : 
+     689             : //}
+     690             : 
+     691             : // | -------- extraction of throttle out of hw api cmds ------- |
+     692             : 
+     693             : /* extractThrottle() //{ */
+     694             : 
+     695       42990 : std::optional<double> extractThrottle(const Controller::ControlOutput& control_output) {
+     696             : 
+     697       42990 :   if (!control_output.control_output) {
+     698        5338 :     return {};
+     699             :   }
+     700             : 
+     701       75304 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     702             : }
+     703             : 
+     704             : //}
+     705             : 
+     706             : // | -------------- validation of HW api commands ------------- |
+     707             : 
+     708             : /* validateControlOutput() //{ */
+     709             : 
+     710       32926 : bool validateControlOutput(const Controller::ControlOutput& control_output, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     711             :                            const std::string& var_name) {
+     712             : 
+     713       32926 :   if (!control_output.control_output) {
+     714           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: the optional variable '%s' is not set!!!", node_name.c_str(), var_name.c_str());
+     715           0 :     return false;
+     716             :   }
+     717             : 
+     718       32926 :   std::variant<ControlOutputModalities_t> output_modalities_var{output_modalities};
+     719       65852 :   std::variant<std::string>               node_name_var{node_name};
+     720       32926 :   std::variant<std::string>               var_name_var{var_name};
+     721             : 
+     722       32926 :   return std::visit(HwApiValidateVisitor(), control_output.control_output.value(), output_modalities_var, node_name_var, var_name_var);
+     723             : }
+     724             : 
+     725             : //}
+     726             : 
+     727             : /* validateHwApiActuatorCmd() //{ */
+     728             : 
+     729        2955 : bool validateHwApiActuatorCmd(const mrs_msgs::HwApiActuatorCmd& msg, const std::string& node_name, const std::string& var_name) {
+     730             : 
+     731       14775 :   for (size_t i = 0; i < msg.motors.size(); i++) {
+     732       11820 :     if (!std::isfinite(msg.motors[i])) {
+     733           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.motors[%d]'!!!", node_name.c_str(), var_name.c_str(), int(i));
+     734           0 :       return false;
+     735             :     }
+     736             :   }
+     737             : 
+     738        2955 :   return true;
+     739             : }
+     740             : 
+     741             : //}
+     742             : 
+     743             : /* validateHwApiControlGroupCmd() //{ */
+     744             : 
+     745        2762 : bool validateHwApiControlGroupCmd(const mrs_msgs::HwApiControlGroupCmd& msg, const std::string& node_name, const std::string& var_name) {
+     746             : 
+     747        2762 :   if (!std::isfinite(msg.roll)) {
+     748           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.roll'!!!", node_name.c_str(), var_name.c_str());
+     749           0 :     return false;
+     750             :   }
+     751             : 
+     752        2762 :   if (!std::isfinite(msg.pitch)) {
+     753           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pitch'!!!", node_name.c_str(), var_name.c_str());
+     754           0 :     return false;
+     755             :   }
+     756             : 
+     757        2762 :   if (!std::isfinite(msg.yaw)) {
+     758           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.yaw'!!!", node_name.c_str(), var_name.c_str());
+     759           0 :     return false;
+     760             :   }
+     761             : 
+     762        2762 :   if (!std::isfinite(msg.throttle)) {
+     763           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     764           0 :     return false;
+     765             :   }
+     766             : 
+     767        2762 :   return true;
+     768             : }
+     769             : 
+     770             : //}
+     771             : 
+     772             : /* validateHwApiAttitudeCmd() //{ */
+     773             : 
+     774       36128 : bool validateHwApiAttitudeCmd(const mrs_msgs::HwApiAttitudeCmd& msg, const std::string& node_name, const std::string& var_name) {
+     775             : 
+     776             :   // check the orientation
+     777             : 
+     778       36128 :   if (!std::isfinite(msg.orientation.x)) {
+     779           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.x'!!!", node_name.c_str(), var_name.c_str());
+     780           0 :     return false;
+     781             :   }
+     782             : 
+     783       36128 :   if (!std::isfinite(msg.orientation.y)) {
+     784           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.y'!!!", node_name.c_str(), var_name.c_str());
+     785           0 :     return false;
+     786             :   }
+     787             : 
+     788       36128 :   if (!std::isfinite(msg.orientation.z)) {
+     789           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.z'!!!", node_name.c_str(), var_name.c_str());
+     790           0 :     return false;
+     791             :   }
+     792             : 
+     793       36128 :   if (!std::isfinite(msg.orientation.w)) {
+     794           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.w'!!!", node_name.c_str(), var_name.c_str());
+     795           0 :     return false;
+     796             :   }
+     797             : 
+     798             :   // check the throttle
+     799             : 
+     800       36128 :   if (!std::isfinite(msg.throttle)) {
+     801           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     802           0 :     return false;
+     803             :   }
+     804             : 
+     805       36128 :   return true;
+     806             : }
+     807             : 
+     808             : //}
+     809             : 
+     810             : /* validateHwApiAttitudeRateCmd() //{ */
+     811             : 
+     812       20854 : bool validateHwApiAttitudeRateCmd(const mrs_msgs::HwApiAttitudeRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     813             : 
+     814             :   // check the body rate
+     815             : 
+     816       20854 :   if (!std::isfinite(msg.body_rate.x)) {
+     817           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.x'!!!", node_name.c_str(), var_name.c_str());
+     818           0 :     return false;
+     819             :   }
+     820             : 
+     821       20854 :   if (!std::isfinite(msg.body_rate.y)) {
+     822           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.y'!!!", node_name.c_str(), var_name.c_str());
+     823           0 :     return false;
+     824             :   }
+     825             : 
+     826       20854 :   if (!std::isfinite(msg.body_rate.z)) {
+     827           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.z'!!!", node_name.c_str(), var_name.c_str());
+     828           0 :     return false;
+     829             :   }
+     830             : 
+     831             :   // check the throttle
+     832             : 
+     833       20854 :   if (!std::isfinite(msg.throttle)) {
+     834           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     835           0 :     return false;
+     836             :   }
+     837             : 
+     838       20854 :   return true;
+     839             : }
+     840             : 
+     841             : //}
+     842             : 
+     843             : /* validateHwApiAccelerationHdgRateCmd() //{ */
+     844             : 
+     845         891 : bool validateHwApiAccelerationHdgRateCmd(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     846             : 
+     847             :   // | ----------------- check the acceleration ----------------- |
+     848             : 
+     849         891 :   if (!std::isfinite(msg.acceleration.x)) {
+     850           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+     851           0 :     return false;
+     852             :   }
+     853             : 
+     854         891 :   if (!std::isfinite(msg.acceleration.y)) {
+     855           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+     856           0 :     return false;
+     857             :   }
+     858             : 
+     859         891 :   if (!std::isfinite(msg.acceleration.z)) {
+     860           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+     861           0 :     return false;
+     862             :   }
+     863             : 
+     864             :   // check the heading rate
+     865             : 
+     866         891 :   if (!std::isfinite(msg.heading_rate)) {
+     867           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     868           0 :     return false;
+     869             :   }
+     870             : 
+     871         891 :   return true;
+     872             : }
+     873             : 
+     874             : //}
+     875             : 
+     876             : /* validateHwApiAccelerationHdgCmd() //{ */
+     877             : 
+     878         871 : bool validateHwApiAccelerationHdgCmd(const mrs_msgs::HwApiAccelerationHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     879             : 
+     880             :   // | ----------------- check the acceleration ----------------- |
+     881             : 
+     882         871 :   if (!std::isfinite(msg.acceleration.x)) {
+     883           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+     884           0 :     return false;
+     885             :   }
+     886             : 
+     887         871 :   if (!std::isfinite(msg.acceleration.y)) {
+     888           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+     889           0 :     return false;
+     890             :   }
+     891             : 
+     892         871 :   if (!std::isfinite(msg.acceleration.z)) {
+     893           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+     894           0 :     return false;
+     895             :   }
+     896             : 
+     897             :   // check the heading
+     898             : 
+     899         871 :   if (!std::isfinite(msg.heading)) {
+     900           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     901           0 :     return false;
+     902             :   }
+     903             : 
+     904         871 :   return true;
+     905             : }
+     906             : 
+     907             : //}
+     908             : 
+     909             : /* validateHwApiVelocityHdgRateCmd() //{ */
+     910             : 
+     911         514 : bool validateHwApiVelocityHdgRateCmd(const mrs_msgs::HwApiVelocityHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     912             : 
+     913             :   // | ----------------- check the velocity ----------------- |
+     914             : 
+     915         514 :   if (!std::isfinite(msg.velocity.x)) {
+     916           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     917           0 :     return false;
+     918             :   }
+     919             : 
+     920         514 :   if (!std::isfinite(msg.velocity.y)) {
+     921           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     922           0 :     return false;
+     923             :   }
+     924             : 
+     925         514 :   if (!std::isfinite(msg.velocity.z)) {
+     926           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     927           0 :     return false;
+     928             :   }
+     929             : 
+     930             :   // check the heading rate
+     931             : 
+     932         514 :   if (!std::isfinite(msg.heading_rate)) {
+     933           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     934           0 :     return false;
+     935             :   }
+     936             : 
+     937         514 :   return true;
+     938             : }
+     939             : 
+     940             : //}
+     941             : 
+     942             : /* validateHwApiVelocityHdgCmd() //{ */
+     943             : 
+     944         511 : bool validateHwApiVelocityHdgCmd(const mrs_msgs::HwApiVelocityHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     945             : 
+     946             :   // | ----------------- check the velocity ----------------- |
+     947             : 
+     948         511 :   if (!std::isfinite(msg.velocity.x)) {
+     949           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     950           0 :     return false;
+     951             :   }
+     952             : 
+     953         511 :   if (!std::isfinite(msg.velocity.y)) {
+     954           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     955           0 :     return false;
+     956             :   }
+     957             : 
+     958         511 :   if (!std::isfinite(msg.velocity.z)) {
+     959           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     960           0 :     return false;
+     961             :   }
+     962             : 
+     963             :   // check the heading
+     964             : 
+     965         511 :   if (!std::isfinite(msg.heading)) {
+     966           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     967           0 :     return false;
+     968             :   }
+     969             : 
+     970         511 :   return true;
+     971             : }
+     972             : 
+     973             : //}
+     974             : 
+     975             : /* validateHwApiPositionHdgCmd() //{ */
+     976             : 
+     977         366 : bool validateHwApiPositionCmd(const mrs_msgs::HwApiPositionCmd& msg, const std::string& node_name, const std::string& var_name) {
+     978             : 
+     979             :   // | ----------------- check the position ----------------- |
+     980             : 
+     981         366 :   if (!std::isfinite(msg.position.x)) {
+     982           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.x'!!!", node_name.c_str(), var_name.c_str());
+     983           0 :     return false;
+     984             :   }
+     985             : 
+     986         366 :   if (!std::isfinite(msg.position.y)) {
+     987           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.y'!!!", node_name.c_str(), var_name.c_str());
+     988           0 :     return false;
+     989             :   }
+     990             : 
+     991         366 :   if (!std::isfinite(msg.position.z)) {
+     992           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.z'!!!", node_name.c_str(), var_name.c_str());
+     993           0 :     return false;
+     994             :   }
+     995             : 
+     996             :   // check the heading
+     997             : 
+     998         366 :   if (!std::isfinite(msg.heading)) {
+     999           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+    1000           0 :     return false;
+    1001             :   }
+    1002             : 
+    1003         366 :   return true;
+    1004             : }
+    1005             : 
+    1006             : //}
+    1007             : 
+    1008             : // | ------------ initialization of HW api commands ----------- |
+    1009             : 
+    1010             : /* initializeDefaultOutput() //{ */
+    1011             : 
+    1012        2298 : Controller::HwApiOutputVariant initializeDefaultOutput(const ControlOutputModalities_t& possible_outputs, const mrs_msgs::UavState& uav_state,
+    1013             :                                                        const double& min_throttle, const double& n_motors) {
+    1014             : 
+    1015        2298 :   CONTROL_OUTPUT lowest_output = getLowestOuput(possible_outputs);
+    1016             : 
+    1017        2298 :   Controller::HwApiOutputVariant output;
+    1018             : 
+    1019        2298 :   switch (lowest_output) {
+    1020           1 :     case ACTUATORS_CMD: {
+    1021           1 :       output = mrs_msgs::HwApiActuatorCmd();
+    1022           1 :       break;
+    1023             :     }
+    1024           0 :     case CONTROL_GROUP: {
+    1025           0 :       output = mrs_msgs::HwApiControlGroupCmd();
+    1026           0 :       break;
+    1027             :     }
+    1028        2295 :     case ATTITUDE_RATE: {
+    1029        2295 :       output = mrs_msgs::HwApiAttitudeRateCmd();
+    1030        2295 :       break;
+    1031             :     }
+    1032           2 :     case ATTITUDE: {
+    1033           2 :       output = mrs_msgs::HwApiAttitudeCmd();
+    1034           2 :       break;
+    1035             :     }
+    1036           0 :     case ACCELERATION_HDG_RATE: {
+    1037           0 :       output = mrs_msgs::HwApiAccelerationHdgRateCmd();
+    1038           0 :       break;
+    1039             :     }
+    1040           0 :     case ACCELERATION_HDG: {
+    1041           0 :       output = mrs_msgs::HwApiAccelerationHdgCmd();
+    1042           0 :       break;
+    1043             :     }
+    1044           0 :     case VELOCITY_HDG_RATE: {
+    1045           0 :       output = mrs_msgs::HwApiVelocityHdgRateCmd();
+    1046           0 :       break;
+    1047             :     }
+    1048           0 :     case VELOCITY_HDG: {
+    1049           0 :       output = mrs_msgs::HwApiVelocityHdgCmd();
+    1050           0 :       break;
+    1051             :     }
+    1052           0 :     case POSITION: {
+    1053           0 :       output = mrs_msgs::HwApiPositionCmd();
+    1054           0 :       break;
+    1055             :     }
+    1056             :   }
+    1057             : 
+    1058        4596 :   std::variant<mrs_msgs::UavState> uav_state_var{uav_state};
+    1059        2298 :   std::variant<double>             min_throttle_var{min_throttle};
+    1060        2298 :   std::variant<double>             n_motors_var{n_motors};
+    1061             : 
+    1062        2298 :   std::visit(HwApiInitializeVisitor(), output, uav_state_var, min_throttle_var, n_motors_var);
+    1063             : 
+    1064        4596 :   return output;
+    1065             : }  // namespace mrs_uav_managers
+    1066             : 
+    1067             : //}
+    1068             : 
+    1069             : /* initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg) //{ */
+    1070             : 
+    1071           1 : void initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg, const double& min_throttle, const double& n_motors) {
+    1072             : 
+    1073           1 :   msg.stamp = ros::Time::now();
+    1074             : 
+    1075           5 :   for (int i = 0; i < n_motors; i++) {
+    1076           4 :     msg.motors.push_back(min_throttle);
+    1077             :   }
+    1078           1 : }
+    1079             : 
+    1080             : //}
+    1081             : 
+    1082             : /* initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg) //{ */
+    1083             : 
+    1084           0 : void initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg, const double& min_throttle) {
+    1085             : 
+    1086           0 :   msg.stamp = ros::Time::now();
+    1087             : 
+    1088           0 :   msg.roll     = 0;
+    1089           0 :   msg.pitch    = 0;
+    1090           0 :   msg.yaw      = 0;
+    1091           0 :   msg.throttle = min_throttle;
+    1092           0 : }
+    1093             : 
+    1094             : //}
+    1095             : 
+    1096             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg) //{ */
+    1097             : 
+    1098        2295 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg, const double& min_throttle) {
+    1099             : 
+    1100        2295 :   msg.stamp = ros::Time::now();
+    1101             : 
+    1102        2295 :   msg.body_rate.x = 0;
+    1103        2295 :   msg.body_rate.y = 0;
+    1104        2295 :   msg.body_rate.z = 0;
+    1105        2295 :   msg.throttle    = min_throttle;
+    1106        2295 : }
+    1107             : 
+    1108             : //}
+    1109             : 
+    1110             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg) //{ */
+    1111             : 
+    1112           2 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg, const mrs_msgs::UavState& uav_state, const double& min_throttle) {
+    1113             : 
+    1114           2 :   msg.stamp = ros::Time::now();
+    1115             : 
+    1116           2 :   msg.orientation = uav_state.pose.orientation;
+    1117           2 :   msg.throttle    = min_throttle;
+    1118           2 : }
+    1119             : 
+    1120             : //}
+    1121             : 
+    1122             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg) //{ */
+    1123             : 
+    1124           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1125             : 
+    1126           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1127           0 :   msg.header.stamp    = ros::Time::now();
+    1128             : 
+    1129           0 :   msg.acceleration.x = 0;
+    1130           0 :   msg.acceleration.y = 0;
+    1131           0 :   msg.acceleration.z = 0;
+    1132           0 :   msg.heading_rate   = 0;
+    1133           0 : }
+    1134             : 
+    1135             : //}
+    1136             : 
+    1137             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg) //{ */
+    1138             : 
+    1139           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1140             : 
+    1141           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1142           0 :   msg.header.stamp    = ros::Time::now();
+    1143             : 
+    1144           0 :   msg.acceleration.x = 0;
+    1145           0 :   msg.acceleration.y = 0;
+    1146           0 :   msg.acceleration.z = 0;
+    1147             : 
+    1148             :   try {
+    1149           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1150             :   }
+    1151           0 :   catch (std::runtime_error& exrun) {
+    1152           0 :     msg.heading = 0;
+    1153             :   }
+    1154           0 : }
+    1155             : 
+    1156             : //}
+    1157             : 
+    1158             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg) //{ */
+    1159             : 
+    1160           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1161             : 
+    1162           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1163           0 :   msg.header.stamp    = ros::Time::now();
+    1164             : 
+    1165           0 :   msg.velocity.x   = 0;
+    1166           0 :   msg.velocity.y   = 0;
+    1167           0 :   msg.velocity.z   = 0;
+    1168           0 :   msg.heading_rate = 0;
+    1169           0 : }
+    1170             : 
+    1171             : //}
+    1172             : 
+    1173             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg) //{ */
+    1174             : 
+    1175           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1176             : 
+    1177           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1178           0 :   msg.header.stamp    = ros::Time::now();
+    1179             : 
+    1180           0 :   msg.velocity.x = 0;
+    1181           0 :   msg.velocity.y = 0;
+    1182           0 :   msg.velocity.z = 0;
+    1183             : 
+    1184             :   try {
+    1185           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1186             :   }
+    1187           0 :   catch (std::runtime_error& exrun) {
+    1188           0 :     msg.heading = 0;
+    1189             :   }
+    1190           0 : }
+    1191             : 
+    1192             : //}
+    1193             : 
+    1194             : /* initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg) //{ */
+    1195             : 
+    1196           0 : void initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1197             : 
+    1198           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1199           0 :   msg.header.stamp    = ros::Time::now();
+    1200             : 
+    1201           0 :   msg.position.x = uav_state.pose.position.x;
+    1202           0 :   msg.position.y = uav_state.pose.position.y;
+    1203           0 :   msg.position.z = uav_state.pose.position.z;
+    1204             : 
+    1205             :   try {
+    1206           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1207             :   }
+    1208           0 :   catch (std::runtime_error& exrun) {
+    1209           0 :     msg.heading = 0;
+    1210             :   }
+    1211           0 : }
+    1212             : 
+    1213             : //}
+    1214             : 
+    1215             : }  // namespace control_manager
+    1216             : 
+    1217             : }  // namespace mrs_uav_managers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22656340.1 %
Date:2023-12-06 10:06:33Functions:213167.7 %
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Test:MRS UAV System - Test coverage reportLines:22656340.1 %
Date:2023-12-06 10:06:33Functions:213167.7 %
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Test:MRS UAV System - Test coverage reportLines:22656340.1 %
Date:2023-12-06 10:06:33Functions:213167.7 %
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Test:MRS UAV System - Test coverage reportLines:22656340.1 %
Date:2023-12-06 10:06:33Functions:213167.7 %
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Current view:top level - mrs_uav_managers/src/control_manager - control_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1845366950.3 %
Date:2023-12-06 10:06:33Functions:6111155.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::callbackHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackEHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::loadConfigFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)0
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::callbackGetMinZ(mrs_msgs::GetFloat64Request_<std::allocator<void> >&, mrs_msgs::GetFloat64Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoFcu(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::deployParachute[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::timeoutUavState(double const&)0
mrs_uav_managers::control_manager::ControlManager::callbackJoystick(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double const&)0
mrs_uav_managers::control_manager::ControlManager::callbackParachute(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackPirouette(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackUseJoystick(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::gotoTrajectoryStart[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackEnableBumper(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoAltitude(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformPoseSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackUseSafetyArea(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::bumperPushFromObstacle()0
mrs_uav_managers::control_manager::ControlManager::callbackReferenceTopic(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()0
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3SrvRequest_<std::allocator<void> >&, mrs_msgs::TransformVector3SrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::resumeTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrackerResetStatic(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceListRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceListResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackStopTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackStartTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackResumeTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceTopic(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackEland(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)1
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)2
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()3
mrs_uav_managers::control_manager::ControlManager::elandSrv()3
mrs_uav_managers::control_manager::ControlManager::isOffboard()6
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)6
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)6
mrs_uav_managers::control_manager::ControlManager::callbackFailsafe(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)8
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()9
mrs_uav_managers::control_manager::ControlManager::shutdown()9
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)12
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)28
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)30
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)30
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_managers::control_manager::ControlManager::initialize()47
mrs_uav_managers::control_manager::ControlManager::preinitialize()47
mrs_uav_managers::control_manager::ControlManager::setConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)47
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)47
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)47
mrs_uav_managers::control_manager::ControlManager::onInit()47
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)56
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)78
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)96
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)98
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()100
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)105
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)107
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)126
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)147
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)189
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)235
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)236
mrs_uav_managers::control_manager::ControlManager::getMass()247
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)283
mrs_uav_managers::control_manager::ControlManager::ungripSrv()365
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)960
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1007
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)2412
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3471
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)4764
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()4811
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()4811
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)6094
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)18999
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)26332
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)30863
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)37882
mrs_uav_managers::control_manager::ControlManager::updateTrackers()38166
mrs_uav_managers::control_manager::ControlManager::asyncControl()40520
mrs_uav_managers::control_manager::ControlManager::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)40578
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)40578
mrs_uav_managers::control_manager::ControlManager::publish()40578
mrs_uav_managers::control_manager::ControlManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)46761
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)94926
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)219242
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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..ff171a7591 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.func.html @@ -0,0 +1,524 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager - control_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1845366950.3 %
Date:2023-12-06 10:06:33Functions:6111155.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
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)283
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)6094
mrs_uav_managers::control_manager::ControlManager::initialize()47
mrs_uav_managers::control_manager::ControlManager::isOffboard()6
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)236
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)94926
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)4764
mrs_uav_managers::control_manager::ControlManager::asyncControl()40520
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)30863
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)28
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)2
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)30
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)56
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()47
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)107
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)2412
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)18999
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&)47
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::updateTrackers()38166
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> >&)8
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>)46761
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()4811
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)105
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double const&)0
mrs_uav_managers::control_manager::ControlManager::callbackParachute(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackPirouette(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)40578
mrs_uav_managers::control_manager::ControlManager::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)6
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()4811
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)219242
mrs_uav_managers::control_manager::ControlManager::callbackUseJoystick(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::gotoTrajectoryStart[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackEnableBumper(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoAltitude(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)47
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)12
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)98
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&)1007
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)126
mrs_uav_managers::control_manager::ControlManager::bumperPushFromObstacle()0
mrs_uav_managers::control_manager::ControlManager::callbackReferenceTopic(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)47
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)1
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)78
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()0
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()100
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)96
mrs_uav_managers::control_manager::ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3SrvRequest_<std::allocator<void> >&, mrs_msgs::TransformVector3SrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::resumeTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)147
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrackerResetStatic(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)960
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)30
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)40578
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)189
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceListRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceListResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)37882
mrs_uav_managers::control_manager::ControlManager::callbackStopTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackStartTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackResumeTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceTopic(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()3
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)6
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::onInit()47
mrs_uav_managers::control_manager::ControlManager::getMass()247
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3471
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)26332
mrs_uav_managers::control_manager::ControlManager::publish()40578
mrs_uav_managers::control_manager::ControlManager::elandSrv()3
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()9
mrs_uav_managers::control_manager::ControlManager::shutdown()9
mrs_uav_managers::control_manager::ControlManager::ungripSrv()365
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)235
+
+
+ + + +
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..9a44030bbf --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html @@ -0,0 +1,8834 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager - control_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1845366950.3 %
Date:2023-12-06 10:06:33Functions:6111155.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : #include <nodelet/nodelet.h>
+       6             : 
+       7             : #include <mrs_uav_managers/control_manager/common.h>
+       8             : #include <control_manager/output_publisher.h>
+       9             : 
+      10             : #include <mrs_uav_managers/controller.h>
+      11             : #include <mrs_uav_managers/tracker.h>
+      12             : 
+      13             : #include <mrs_msgs/String.h>
+      14             : #include <mrs_msgs/Float64Stamped.h>
+      15             : #include <mrs_msgs/ObstacleSectors.h>
+      16             : #include <mrs_msgs/BoolStamped.h>
+      17             : #include <mrs_msgs/BumperStatus.h>
+      18             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      19             : #include <mrs_msgs/DynamicsConstraints.h>
+      20             : #include <mrs_msgs/ControlError.h>
+      21             : #include <mrs_msgs/GetFloat64.h>
+      22             : #include <mrs_msgs/ValidateReference.h>
+      23             : #include <mrs_msgs/ValidateReferenceList.h>
+      24             : #include <mrs_msgs/BumperParamsSrv.h>
+      25             : #include <mrs_msgs/TrackerCommand.h>
+      26             : #include <mrs_msgs/EstimatorInput.h>
+      27             : 
+      28             : #include <geometry_msgs/Point32.h>
+      29             : #include <geometry_msgs/TwistStamped.h>
+      30             : #include <geometry_msgs/PoseArray.h>
+      31             : #include <geometry_msgs/Vector3Stamped.h>
+      32             : 
+      33             : #include <nav_msgs/Odometry.h>
+      34             : 
+      35             : #include <sensor_msgs/Joy.h>
+      36             : #include <sensor_msgs/NavSatFix.h>
+      37             : 
+      38             : #include <mrs_lib/safety_zone/safety_zone.h>
+      39             : #include <mrs_lib/profiler.h>
+      40             : #include <mrs_lib/param_loader.h>
+      41             : #include <mrs_lib/utils.h>
+      42             : #include <mrs_lib/mutex.h>
+      43             : #include <mrs_lib/transformer.h>
+      44             : #include <mrs_lib/geometry/misc.h>
+      45             : #include <mrs_lib/geometry/cyclic.h>
+      46             : #include <mrs_lib/attitude_converter.h>
+      47             : #include <mrs_lib/subscribe_handler.h>
+      48             : #include <mrs_lib/msg_extractor.h>
+      49             : #include <mrs_lib/quadratic_throttle_model.h>
+      50             : #include <mrs_lib/publisher_handler.h>
+      51             : #include <mrs_lib/service_client_handler.h>
+      52             : 
+      53             : #include <mrs_msgs/HwApiCapabilities.h>
+      54             : #include <mrs_msgs/HwApiStatus.h>
+      55             : #include <mrs_msgs/HwApiRcChannels.h>
+      56             : 
+      57             : #include <mrs_msgs/HwApiActuatorCmd.h>
+      58             : #include <mrs_msgs/HwApiControlGroupCmd.h>
+      59             : #include <mrs_msgs/HwApiAttitudeRateCmd.h>
+      60             : #include <mrs_msgs/HwApiAttitudeCmd.h>
+      61             : #include <mrs_msgs/HwApiAccelerationHdgRateCmd.h>
+      62             : #include <mrs_msgs/HwApiAccelerationHdgCmd.h>
+      63             : #include <mrs_msgs/HwApiVelocityHdgRateCmd.h>
+      64             : #include <mrs_msgs/HwApiVelocityHdgCmd.h>
+      65             : #include <mrs_msgs/HwApiPositionCmd.h>
+      66             : 
+      67             : #include <std_msgs/Float64.h>
+      68             : 
+      69             : #include <future>
+      70             : 
+      71             : #include <pluginlib/class_loader.h>
+      72             : 
+      73             : #include <nodelet/loader.h>
+      74             : 
+      75             : #include <eigen3/Eigen/Eigen>
+      76             : 
+      77             : #include <visualization_msgs/Marker.h>
+      78             : #include <visualization_msgs/MarkerArray.h>
+      79             : 
+      80             : #include <mrs_msgs/Reference.h>
+      81             : #include <mrs_msgs/ReferenceStamped.h>
+      82             : #include <mrs_msgs/ReferenceList.h>
+      83             : #include <mrs_msgs/TrajectoryReference.h>
+      84             : 
+      85             : #include <mrs_msgs/ReferenceStampedSrv.h>
+      86             : #include <mrs_msgs/ReferenceStampedSrvRequest.h>
+      87             : #include <mrs_msgs/ReferenceStampedSrvResponse.h>
+      88             : 
+      89             : #include <mrs_msgs/VelocityReferenceStampedSrv.h>
+      90             : #include <mrs_msgs/VelocityReferenceStampedSrvRequest.h>
+      91             : #include <mrs_msgs/VelocityReferenceStampedSrvResponse.h>
+      92             : 
+      93             : #include <mrs_msgs/TransformReferenceSrv.h>
+      94             : #include <mrs_msgs/TransformReferenceSrvRequest.h>
+      95             : #include <mrs_msgs/TransformReferenceSrvResponse.h>
+      96             : 
+      97             : #include <mrs_msgs/TransformPoseSrv.h>
+      98             : #include <mrs_msgs/TransformPoseSrvRequest.h>
+      99             : #include <mrs_msgs/TransformPoseSrvResponse.h>
+     100             : 
+     101             : #include <mrs_msgs/TransformVector3Srv.h>
+     102             : #include <mrs_msgs/TransformVector3SrvRequest.h>
+     103             : #include <mrs_msgs/TransformVector3SrvResponse.h>
+     104             : 
+     105             : #include <mrs_msgs/Float64StampedSrv.h>
+     106             : #include <mrs_msgs/Float64StampedSrvRequest.h>
+     107             : #include <mrs_msgs/Float64StampedSrvResponse.h>
+     108             : 
+     109             : #include <mrs_msgs/Vec4.h>
+     110             : #include <mrs_msgs/Vec4Request.h>
+     111             : #include <mrs_msgs/Vec4Response.h>
+     112             : 
+     113             : #include <mrs_msgs/Vec1.h>
+     114             : #include <mrs_msgs/Vec1Request.h>
+     115             : #include <mrs_msgs/Vec1Response.h>
+     116             : 
+     117             : //}
+     118             : 
+     119             : /* defines //{ */
+     120             : 
+     121             : #define TAU 2 * M_PI
+     122             : #define REF_X 0
+     123             : #define REF_Y 1
+     124             : #define REF_Z 2
+     125             : #define REF_HEADING 3
+     126             : #define ELAND_STR "eland"
+     127             : #define EHOVER_STR "ehover"
+     128             : #define ESCALATING_FAILSAFE_STR "escalating_failsafe"
+     129             : #define FAILSAFE_STR "failsafe"
+     130             : #define INPUT_UAV_STATE 0
+     131             : #define INPUT_ODOMETRY 1
+     132             : #define RC_DEADBAND 0.2
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* using //{ */
+     137             : 
+     138             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+     139             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+     140             : 
+     141             : using radians  = mrs_lib::geometry::radians;
+     142             : using sradians = mrs_lib::geometry::sradians;
+     143             : 
+     144             : //}
+     145             : 
+     146             : namespace mrs_uav_managers
+     147             : {
+     148             : 
+     149             : namespace control_manager
+     150             : {
+     151             : 
+     152             : /* //{ class ControlManager */
+     153             : 
+     154             : // state machine
+     155             : typedef enum
+     156             : {
+     157             : 
+     158             :   IDLE_STATE,
+     159             :   LANDING_STATE,
+     160             : 
+     161             : } LandingStates_t;
+     162             : 
+     163             : const char* state_names[2] = {
+     164             : 
+     165             :     "IDLING", "LANDING"};
+     166             : 
+     167             : // state machine
+     168             : typedef enum
+     169             : {
+     170             : 
+     171             :   FCU_FRAME,
+     172             :   RELATIVE_FRAME,
+     173             :   ABSOLUTE_FRAME
+     174             : 
+     175             : } ReferenceFrameType_t;
+     176             : 
+     177             : // state machine
+     178             : typedef enum
+     179             : {
+     180             : 
+     181             :   ESC_NONE_STATE     = 0,
+     182             :   ESC_EHOVER_STATE   = 1,
+     183             :   ESC_ELAND_STATE    = 2,
+     184             :   ESC_FAILSAFE_STATE = 3,
+     185             :   ESC_FINISHED_STATE = 4,
+     186             : 
+     187             : } EscalatingFailsafeStates_t;
+     188             : 
+     189             : /* class ControllerParams() //{ */
+     190             : 
+     191             : class ControllerParams {
+     192             : 
+     193             : public:
+     194             :   ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold, double odometry_innovation_threshold,
+     195             :                    bool human_switchable);
+     196             : 
+     197             : public:
+     198             :   double      failsafe_threshold;
+     199             :   double      eland_threshold;
+     200             :   double      odometry_innovation_threshold;
+     201             :   std::string address;
+     202             :   std::string name_space;
+     203             :   bool        human_switchable;
+     204             : };
+     205             : 
+     206         235 : ControllerParams::ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold,
+     207         235 :                                    double odometry_innovation_threshold, bool human_switchable) {
+     208             : 
+     209         235 :   this->eland_threshold               = eland_threshold;
+     210         235 :   this->odometry_innovation_threshold = odometry_innovation_threshold;
+     211         235 :   this->failsafe_threshold            = failsafe_threshold;
+     212         235 :   this->address                       = address;
+     213         235 :   this->name_space                    = name_space;
+     214         235 :   this->human_switchable              = human_switchable;
+     215         235 : }
+     216             : 
+     217             : //}
+     218             : 
+     219             : /* class TrackerParams() //{ */
+     220             : 
+     221             : class TrackerParams {
+     222             : 
+     223             : public:
+     224             :   TrackerParams(std::string address, std::string name_space, bool human_switchable);
+     225             : 
+     226             : public:
+     227             :   std::string address;
+     228             :   std::string name_space;
+     229             :   bool        human_switchable;
+     230             : };
+     231             : 
+     232         283 : TrackerParams::TrackerParams(std::string address, std::string name_space, bool human_switchable) {
+     233             : 
+     234         283 :   this->address          = address;
+     235         283 :   this->name_space       = name_space;
+     236         283 :   this->human_switchable = human_switchable;
+     237         283 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : class ControlManager : public nodelet::Nodelet {
+     242             : 
+     243             : public:
+     244             :   virtual void onInit();
+     245             : 
+     246             : private:
+     247             :   ros::NodeHandle   nh_;
+     248             :   std::atomic<bool> is_initialized_ = false;
+     249             :   std::string       _uav_name_;
+     250             :   std::string       _body_frame_;
+     251             : 
+     252             :   std::string _custom_config_;
+     253             :   std::string _platform_config_;
+     254             :   std::string _world_config_;
+     255             :   std::string _network_config_;
+     256             : 
+     257             :   // | --------------- dynamic loading of trackers -------------- |
+     258             : 
+     259             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Tracker>> tracker_loader_;  // pluginlib loader of dynamically loaded trackers
+     260             :   std::vector<std::string>                                           _tracker_names_;  // list of tracker names
+     261             :   std::map<std::string, TrackerParams>                               trackers_;        // map between tracker names and tracker param
+     262             :   std::vector<boost::shared_ptr<mrs_uav_managers::Tracker>>          tracker_list_;    // list of trackers, routines are callable from this
+     263             :   std::mutex                                                         mutex_tracker_list_;
+     264             : 
+     265             :   // | ------------- dynamic loading of controllers ------------- |
+     266             : 
+     267             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Controller>> controller_loader_;  // pluginlib loader of dynamically loaded controllers
+     268             :   std::vector<std::string>                                              _controller_names_;  // list of controller names
+     269             :   std::map<std::string, ControllerParams>                               controllers_;        // map between controller names and controller params
+     270             :   std::vector<boost::shared_ptr<mrs_uav_managers::Controller>>          controller_list_;    // list of controllers, routines are callable from this
+     271             :   std::mutex                                                            mutex_controller_list_;
+     272             : 
+     273             :   // | ------------------------- HW API ------------------------- |
+     274             : 
+     275             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_;
+     276             : 
+     277             :   OutputPublisher control_output_publisher_;
+     278             : 
+     279             :   ControlOutputModalities_t _hw_api_inputs_;
+     280             : 
+     281             :   double desired_uav_state_rate_ = 100.0;
+     282             : 
+     283             :   // this timer will check till we already got the hardware api diagnostics
+     284             :   // then it will trigger the initialization of the controllers and finish
+     285             :   // the initialization of the ControlManager
+     286             :   ros::Timer timer_hw_api_capabilities_;
+     287             :   void       timerHwApiCapabilities(const ros::TimerEvent& event);
+     288             : 
+     289             :   void preinitialize(void);
+     290             :   void initialize(void);
+     291             : 
+     292             :   // | ------------ tracker and controller switching ------------ |
+     293             : 
+     294             :   std::tuple<bool, std::string> switchController(const std::string& controller_name);
+     295             :   std::tuple<bool, std::string> switchTracker(const std::string& tracker_name);
+     296             : 
+     297             :   // the time of last switching of a tracker or a controller
+     298             :   ros::Time  controller_tracker_switch_time_;
+     299             :   std::mutex mutex_controller_tracker_switch_time_;
+     300             : 
+     301             :   // | -------------------- the transformer  -------------------- |
+     302             : 
+     303             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     304             : 
+     305             :   // | ------------------- scope timer logger ------------------- |
+     306             : 
+     307             :   bool                                       scope_timer_enabled_ = false;
+     308             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     309             : 
+     310             :   // | --------------------- general params --------------------- |
+     311             : 
+     312             :   // defines the type of state input: odometry or uav_state mesasge types
+     313             :   int _state_input_;
+     314             : 
+     315             :   // names of important trackers
+     316             :   std::string _null_tracker_name_;     // null tracker is active when UAV is not in the air
+     317             :   std::string _ehover_tracker_name_;   // ehover tracker is used for emergency hovering
+     318             :   std::string _landoff_tracker_name_;  // landoff is used for landing and takeoff
+     319             : 
+     320             :   // names of important controllers
+     321             :   std::string _failsafe_controller_name_;  // controller used for feed-forward failsafe
+     322             :   std::string _eland_controller_name_;     // controller used for emergancy landing
+     323             : 
+     324             :   // joystick control
+     325             :   bool        _joystick_enabled_ = false;
+     326             :   int         _joystick_mode_;
+     327             :   std::string _joystick_tracker_name_;
+     328             :   std::string _joystick_controller_name_;
+     329             :   std::string _joystick_fallback_tracker_name_;
+     330             :   std::string _joystick_fallback_controller_name_;
+     331             : 
+     332             :   // should disarm after emergancy landing?
+     333             :   bool _eland_disarm_enabled_ = false;
+     334             : 
+     335             :   // enabling the emergency handoff -> will disable eland and failsafe
+     336             :   bool _rc_emergency_handoff_ = false;
+     337             : 
+     338             :   // what throttle should be output when null tracker is active?
+     339             :   double _min_throttle_null_tracker_ = 0.0;
+     340             : 
+     341             :   // rates of all the timers
+     342             :   double _status_timer_rate_   = 0;
+     343             :   double _safety_timer_rate_   = 0;
+     344             :   double _elanding_timer_rate_ = 0;
+     345             :   double _failsafe_timer_rate_ = 0;
+     346             :   double _bumper_timer_rate_   = 0;
+     347             : 
+     348             :   bool _snap_trajectory_to_safety_area_ = false;
+     349             : 
+     350             :   // | -------------- uav_state/odometry subscriber ------------- |
+     351             : 
+     352             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_;
+     353             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     354             : 
+     355             :   mrs_msgs::UavState uav_state_;
+     356             :   mrs_msgs::UavState previous_uav_state_;
+     357             :   bool               got_uav_state_               = false;
+     358             :   double             _uav_state_max_missing_time_ = 0;  // how long should we tolerate missing state estimate?
+     359             :   double             uav_roll_                    = 0;
+     360             :   double             uav_pitch_                   = 0;
+     361             :   double             uav_yaw_                     = 0;
+     362             :   double             uav_heading_                 = 0;
+     363             :   std::mutex         mutex_uav_state_;
+     364             : 
+     365             :   // odometry hiccup detection
+     366             :   double uav_state_avg_dt_        = 1;
+     367             :   double uav_state_hiccup_factor_ = 1;
+     368             :   int    uav_state_count_         = 0;
+     369             : 
+     370             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     371             : 
+     372             :   // | -------------- safety area max z subscriber -------------- |
+     373             : 
+     374             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_max_z_;
+     375             : 
+     376             :   // | ------------- odometry innovation subscriber ------------- |
+     377             : 
+     378             :   // odometry innovation is published by the odometry node
+     379             :   // it is used to issue eland if the estimator's input is too wonky
+     380             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_innovation_;
+     381             : 
+     382             :   // | --------------------- common handlers -------------------- |
+     383             : 
+     384             :   // contains handlers that are shared with trackers and controllers
+     385             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers_;
+     386             : 
+     387             :   // | --------------- tracker and controller IDs --------------- |
+     388             : 
+     389             :   // keeping track of currently active controllers and trackers
+     390             :   unsigned int active_tracker_idx_    = 0;
+     391             :   unsigned int active_controller_idx_ = 0;
+     392             : 
+     393             :   // indeces of some notable trackers
+     394             :   unsigned int _ehover_tracker_idx_               = 0;
+     395             :   unsigned int _landoff_tracker_idx_              = 0;
+     396             :   unsigned int _joystick_tracker_idx_             = 0;
+     397             :   unsigned int _joystick_controller_idx_          = 0;
+     398             :   unsigned int _failsafe_controller_idx_          = 0;
+     399             :   unsigned int _joystick_fallback_controller_idx_ = 0;
+     400             :   unsigned int _joystick_fallback_tracker_idx_    = 0;
+     401             :   unsigned int _null_tracker_idx_                 = 0;
+     402             :   unsigned int _eland_controller_idx_             = 0;
+     403             : 
+     404             :   // | -------------- enabling the output publisher ------------- |
+     405             : 
+     406             :   void              toggleOutput(const bool& input);
+     407             :   std::atomic<bool> output_enabled_ = false;
+     408             : 
+     409             :   // | ----------------------- publishers ----------------------- |
+     410             : 
+     411             :   mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>     ph_controller_diagnostics_;
+     412             :   mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>            ph_tracker_cmd_;
+     413             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>            ph_mrs_odom_input_;
+     414             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>                  ph_control_reference_odom_;
+     415             :   mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics> ph_diagnostics_;
+     416             :   mrs_lib::PublisherHandler<std_msgs::Empty>                     ph_offboard_on_;
+     417             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_tilt_error_;
+     418             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_mass_estimate_;
+     419             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_throttle_;
+     420             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_thrust_;
+     421             :   mrs_lib::PublisherHandler<mrs_msgs::ControlError>              ph_control_error_;
+     422             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_markers_;
+     423             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_coordinates_markers_;
+     424             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_disturbances_markers_;
+     425             :   mrs_lib::PublisherHandler<mrs_msgs::BumperStatus>              ph_bumper_status_;
+     426             :   mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>       ph_current_constraints_;
+     427             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_heading_;
+     428             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_speed_;
+     429             : 
+     430             :   // | --------------------- service servers -------------------- |
+     431             : 
+     432             :   ros::ServiceServer service_server_switch_tracker_;
+     433             :   ros::ServiceServer service_server_switch_controller_;
+     434             :   ros::ServiceServer service_server_reset_tracker_;
+     435             :   ros::ServiceServer service_server_hover_;
+     436             :   ros::ServiceServer service_server_ehover_;
+     437             :   ros::ServiceServer service_server_failsafe_;
+     438             :   ros::ServiceServer service_server_failsafe_escalating_;
+     439             :   ros::ServiceServer service_server_toggle_output_;
+     440             :   ros::ServiceServer service_server_arm_;
+     441             :   ros::ServiceServer service_server_enable_callbacks_;
+     442             :   ros::ServiceServer service_server_set_constraints_;
+     443             :   ros::ServiceServer service_server_use_joystick_;
+     444             :   ros::ServiceServer service_server_use_safety_area_;
+     445             :   ros::ServiceServer service_server_emergency_reference_;
+     446             :   ros::ServiceServer service_server_pirouette_;
+     447             :   ros::ServiceServer service_server_eland_;
+     448             :   ros::ServiceServer service_server_parachute_;
+     449             : 
+     450             :   // human callbable services for references
+     451             :   ros::ServiceServer service_server_goto_;
+     452             :   ros::ServiceServer service_server_goto_fcu_;
+     453             :   ros::ServiceServer service_server_goto_relative_;
+     454             :   ros::ServiceServer service_server_goto_altitude_;
+     455             :   ros::ServiceServer service_server_set_heading_;
+     456             :   ros::ServiceServer service_server_set_heading_relative_;
+     457             : 
+     458             :   // the reference service and subscriber
+     459             :   ros::ServiceServer                                    service_server_reference_;
+     460             :   mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped> sh_reference_;
+     461             : 
+     462             :   // the velocity reference service and subscriber
+     463             :   ros::ServiceServer                                            service_server_velocity_reference_;
+     464             :   mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped> sh_velocity_reference_;
+     465             : 
+     466             :   // trajectory tracking
+     467             :   ros::ServiceServer                                       service_server_trajectory_reference_;
+     468             :   mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference> sh_trajectory_reference_;
+     469             :   ros::ServiceServer                                       service_server_start_trajectory_tracking_;
+     470             :   ros::ServiceServer                                       service_server_stop_trajectory_tracking_;
+     471             :   ros::ServiceServer                                       service_server_resume_trajectory_tracking_;
+     472             :   ros::ServiceServer                                       service_server_goto_trajectory_start_;
+     473             : 
+     474             :   // transform service servers
+     475             :   ros::ServiceServer service_server_transform_reference_;
+     476             :   ros::ServiceServer service_server_transform_pose_;
+     477             :   ros::ServiceServer service_server_transform_vector3_;
+     478             : 
+     479             :   // safety area services
+     480             :   ros::ServiceServer service_server_validate_reference_;
+     481             :   ros::ServiceServer service_server_validate_reference_2d_;
+     482             :   ros::ServiceServer service_server_validate_reference_list_;
+     483             : 
+     484             :   // bumper service servers
+     485             :   ros::ServiceServer service_server_bumper_enabler_;
+     486             :   ros::ServiceServer service_server_bumper_repulsion_enabler_;
+     487             : 
+     488             :   // service clients
+     489             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_arming_;
+     490             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_eland_;
+     491             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_shutdown_;
+     492             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_set_odometry_callbacks_;
+     493             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_parachute_;
+     494             : 
+     495             :   // safety area min z servers
+     496             :   ros::ServiceServer service_server_set_min_z_;
+     497             :   ros::ServiceServer service_server_get_min_z_;
+     498             : 
+     499             :   // | --------- trackers' and controllers' last results -------- |
+     500             : 
+     501             :   // the last result of an active tracker
+     502             :   std::optional<mrs_msgs::TrackerCommand> last_tracker_cmd_;
+     503             :   std::mutex                              mutex_last_tracker_cmd_;
+     504             : 
+     505             :   // the last result of an active controller
+     506             :   Controller::ControlOutput last_control_output_;
+     507             :   std::mutex                mutex_last_control_output_;
+     508             : 
+     509             :   // | -------------- HW API diagnostics subscriber ------------- |
+     510             : 
+     511             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus> sh_hw_api_status_;
+     512             : 
+     513             :   bool offboard_mode_          = false;
+     514             :   bool offboard_mode_was_true_ = false;  // if it was ever true
+     515             :   bool armed_                  = false;
+     516             : 
+     517             :   // | -------------------- throttle and mass ------------------- |
+     518             : 
+     519             :   // throttle mass estimation during eland
+     520             :   double    throttle_mass_estimate_   = 0;
+     521             :   bool      throttle_under_threshold_ = false;
+     522             :   ros::Time throttle_mass_estimate_first_time_;
+     523             : 
+     524             :   // | ---------------------- safety params --------------------- |
+     525             : 
+     526             :   // failsafe when tilt error is too large
+     527             :   bool   _tilt_error_disarm_enabled_;
+     528             :   double _tilt_error_disarm_timeout_;
+     529             :   double _tilt_error_disarm_threshold_;
+     530             : 
+     531             :   ros::Time tilt_error_disarm_time_;
+     532             :   bool      tilt_error_disarm_over_thr_ = false;
+     533             : 
+     534             :   // elanding when tilt error is too large
+     535             :   bool   _tilt_limit_eland_enabled_;
+     536             :   double _tilt_limit_eland_ = 0;  // [rad]
+     537             : 
+     538             :   // disarming when tilt error is too large
+     539             :   bool   _tilt_limit_disarm_enabled_;
+     540             :   double _tilt_limit_disarm_ = 0;  // [rad]
+     541             : 
+     542             :   // elanding when yaw error is too large
+     543             :   bool   _yaw_error_eland_enabled_;
+     544             :   double _yaw_error_eland_ = 0;  // [rad]
+     545             : 
+     546             :   // keeping track of control errors
+     547             :   std::optional<double> tilt_error_ = 0;
+     548             :   std::optional<double> yaw_error_  = 0;
+     549             :   std::mutex            mutex_attitude_error_;
+     550             : 
+     551             :   std::optional<Eigen::Vector3d> position_error_;
+     552             :   std::mutex                     mutex_position_error_;
+     553             : 
+     554             :   // control error for triggering failsafe, eland, etc.
+     555             :   // this filled with the current controllers failsafe threshold
+     556             :   double _failsafe_threshold_                = 0;  // control error for triggering failsafe
+     557             :   double _eland_threshold_                   = 0;  // control error for triggering eland
+     558             :   bool   _odometry_innovation_check_enabled_ = false;
+     559             :   double _odometry_innovation_threshold_     = 0;  // innovation size for triggering eland
+     560             : 
+     561             :   bool callbacks_enabled_ = true;
+     562             : 
+     563             :   // | ------------------------ parachute ----------------------- |
+     564             : 
+     565             :   bool _parachute_enabled_ = false;
+     566             : 
+     567             :   std::tuple<bool, std::string> deployParachute(void);
+     568             :   bool                          parachuteSrv(void);
+     569             : 
+     570             :   // | ----------------------- safety area ---------------------- |
+     571             : 
+     572             :   // safety area
+     573             :   std::unique_ptr<mrs_lib::SafetyZone> safety_zone_;
+     574             : 
+     575             :   std::atomic<bool> use_safety_area_ = false;
+     576             : 
+     577             :   std::string _safety_area_horizontal_frame_;
+     578             :   std::string _safety_area_vertical_frame_;
+     579             : 
+     580             :   double _safety_area_min_z_ = 0;
+     581             :   double _safety_area_max_z_ = 0;
+     582             : 
+     583             :   // safety area routines
+     584             :   // those are passed to trackers using the common_handlers object
+     585             :   bool   isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point);
+     586             :   bool   isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point);
+     587             :   bool   isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     588             :   bool   isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     589             :   double getMinZ(const std::string& frame_id);
+     590             :   double getMaxZ(const std::string& frame_id);
+     591             : 
+     592             :   // | ------------------------ callbacks ----------------------- |
+     593             : 
+     594             :   // topic callbacks
+     595             :   void callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     596             :   void callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     597             :   void callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     598             :   void callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg);
+     599             :   void callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg);
+     600             : 
+     601             :   // topic timeouts
+     602             :   void timeoutUavState(const double& missing_for);
+     603             : 
+     604             :   // switching controller and tracker services
+     605             :   bool callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     606             :   bool callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     607             :   bool callbackTrackerResetStatic(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     608             : 
+     609             :   // reference callbacks
+     610             :   void callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg);
+     611             :   void callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg);
+     612             :   void callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg);
+     613             :   bool callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     614             :   bool callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     615             :   bool callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     616             :   bool callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     617             :   bool callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     618             :   bool callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     619             :   bool callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     620             :   bool callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request& req, mrs_msgs::VelocityReferenceStampedSrv::Response& res);
+     621             :   bool callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res);
+     622             :   bool callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     623             : 
+     624             :   // safety callbacks
+     625             :   bool callbackHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     626             :   bool callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     627             :   bool callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     628             :   bool callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     629             :   bool callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     630             :   bool callbackEHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     631             :   bool callbackFailsafe(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     632             :   bool callbackFailsafeEscalating(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     633             :   bool callbackEland(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     634             :   bool callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     635             :   bool callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     636             :   bool callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     637             :   bool callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     638             :   bool callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     639             :   bool callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     640             :   bool callbackBumperSetParams(mrs_msgs::BumperParamsSrv::Request& req, mrs_msgs::BumperParamsSrv::Response& res);
+     641             : 
+     642             :   bool callbackGetMinZ(mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res);
+     643             : 
+     644             :   bool callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     645             :   bool callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     646             :   bool callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res);
+     647             : 
+     648             :   // transformation callbacks
+     649             :   bool callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res);
+     650             :   bool callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res);
+     651             :   bool callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res);
+     652             : 
+     653             :   // | ----------------------- constraints ---------------------- |
+     654             : 
+     655             :   // sets constraints to all trackers
+     656             :   bool callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res);
+     657             : 
+     658             :   // constraints management
+     659             :   bool              got_constraints_ = false;
+     660             :   std::mutex        mutex_constraints_;
+     661             :   void              setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     662             :   void              setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     663             :   void              setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     664             :   std::atomic<bool> constraints_being_enforced_ = false;
+     665             : 
+     666             :   std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> enforceControllersConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     667             : 
+     668             :   mrs_msgs::DynamicsConstraintsSrvRequest current_constraints_;
+     669             :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints_;
+     670             : 
+     671             :   // | ------------------ emergency triggered? ------------------ |
+     672             : 
+     673             :   bool failsafe_triggered_ = false;
+     674             :   bool eland_triggered_    = false;
+     675             : 
+     676             :   // | ------------------------- timers ------------------------- |
+     677             : 
+     678             :   // timer for regular status publishing
+     679             :   ros::Timer timer_status_;
+     680             :   void       timerStatus(const ros::TimerEvent& event);
+     681             : 
+     682             :   // timer for issuing the failsafe landing
+     683             :   ros::Timer timer_failsafe_;
+     684             :   void       timerFailsafe(const ros::TimerEvent& event);
+     685             : 
+     686             :   // oneshot timer for running controllers and trackers
+     687             :   void              asyncControl(void);
+     688             :   std::atomic<bool> running_async_control_ = false;
+     689             :   std::future<void> async_control_result_;
+     690             : 
+     691             :   // timer for issuing emergancy landing
+     692             :   ros::Timer timer_eland_;
+     693             :   void       timerEland(const ros::TimerEvent& event);
+     694             : 
+     695             :   // timer for regular checking of controller errors
+     696             :   ros::Timer        timer_safety_;
+     697             :   void              timerSafety(const ros::TimerEvent& event);
+     698             :   std::atomic<bool> running_safety_timer_        = false;
+     699             :   std::atomic<bool> odometry_switch_in_progress_ = false;
+     700             : 
+     701             :   // timer for issuing the pirouette
+     702             :   ros::Timer timer_pirouette_;
+     703             :   void       timerPirouette(const ros::TimerEvent& event);
+     704             : 
+     705             :   // | --------------------- obstacle bumper -------------------- |
+     706             : 
+     707             :   // bumper timer
+     708             :   ros::Timer timer_bumper_;
+     709             :   void       timerBumper(const ros::TimerEvent& event);
+     710             : 
+     711             :   // bumper subscriber
+     712             :   mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors> sh_bumper_;
+     713             : 
+     714             :   bool        _bumper_switch_tracker_    = false;
+     715             :   bool        _bumper_switch_controller_ = false;
+     716             :   std::string _bumper_tracker_name_;
+     717             :   std::string _bumper_controller_name_;
+     718             :   std::string bumper_previous_tracker_;
+     719             :   std::string bumper_previous_controller_;
+     720             : 
+     721             :   std::atomic<bool> bumper_enabled_ = false;
+     722             :   std::atomic<bool> repulsing_      = false;
+     723             : 
+     724             :   double _bumper_horizontal_distance_ = 0;
+     725             :   double _bumper_vertical_distance_   = 0;
+     726             : 
+     727             :   double _bumper_horizontal_overshoot_ = 0;
+     728             :   double _bumper_vertical_overshoot_   = 0;
+     729             : 
+     730             :   int  bumperGetSectorId(const double& x, const double& y, const double& z);
+     731             :   bool bumperPushFromObstacle(void);
+     732             : 
+     733             :   // | --------------- safety checks and failsafes -------------- |
+     734             : 
+     735             :   // escalating failsafe (eland -> failsafe -> disarm)
+     736             :   bool                       _service_escalating_failsafe_enabled_ = false;
+     737             :   bool                       _rc_escalating_failsafe_enabled_      = false;
+     738             :   double                     _escalating_failsafe_timeout_         = 0;
+     739             :   ros::Time                  escalating_failsafe_time_;
+     740             :   bool                       _escalating_failsafe_ehover_   = false;
+     741             :   bool                       _escalating_failsafe_eland_    = false;
+     742             :   bool                       _escalating_failsafe_failsafe_ = false;
+     743             :   double                     _rc_escalating_failsafe_threshold_;
+     744             :   int                        _rc_escalating_failsafe_channel_  = 0;
+     745             :   bool                       rc_escalating_failsafe_triggered_ = false;
+     746             :   EscalatingFailsafeStates_t state_escalating_failsafe_        = ESC_NONE_STATE;
+     747             : 
+     748             :   std::string _tracker_error_action_;
+     749             : 
+     750             :   // emergancy landing state machine
+     751             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     752             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     753             :   std::mutex      mutex_landing_state_machine_;
+     754             :   void            changeLandingState(LandingStates_t new_state);
+     755             :   double          _uav_mass_ = 0;
+     756             :   double          _elanding_cutoff_mass_factor_;
+     757             :   double          _elanding_cutoff_timeout_;
+     758             :   double          landing_uav_mass_ = 0;
+     759             : 
+     760             :   // initial body disturbance loaded from params
+     761             :   double _initial_body_disturbance_x_ = 0;
+     762             :   double _initial_body_disturbance_y_ = 0;
+     763             : 
+     764             :   // profiling
+     765             :   mrs_lib::Profiler profiler_;
+     766             :   bool              _profiler_enabled_ = false;
+     767             : 
+     768             :   // automatic pc shutdown (DARPA specific)
+     769             :   bool _automatic_pc_shutdown_enabled_ = false;
+     770             : 
+     771             :   // diagnostics publishing
+     772             :   void       publishDiagnostics(void);
+     773             :   std::mutex mutex_diagnostics_;
+     774             : 
+     775             :   void                                             ungripSrv(void);
+     776             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_ungrip_;
+     777             : 
+     778             :   bool isFlyingNormally(void);
+     779             : 
+     780             :   // | ------------------------ pirouette ----------------------- |
+     781             : 
+     782             :   bool       _pirouette_enabled_ = false;
+     783             :   double     _pirouette_speed_;
+     784             :   double     _pirouette_timer_rate_;
+     785             :   std::mutex mutex_pirouette_;
+     786             :   double     pirouette_initial_heading_;
+     787             :   double     pirouette_iterator_;
+     788             :   bool       callbackPirouette(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     789             : 
+     790             :   // | -------------------- joystick control -------------------- |
+     791             : 
+     792             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     793             : 
+     794             :   void callbackJoystick(const sensor_msgs::Joy::ConstPtr msg);
+     795             :   bool callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     796             : 
+     797             :   // joystick buttons mappings
+     798             :   int _channel_A_, _channel_B_, _channel_X_, _channel_Y_, _channel_start_, _channel_back_, _channel_LT_, _channel_RT_, _channel_L_joy_, _channel_R_joy_;
+     799             : 
+     800             :   // channel numbers and channel multipliers
+     801             :   int    _channel_pitch_, _channel_roll_, _channel_heading_, _channel_throttle_;
+     802             :   double _channel_mult_pitch_, _channel_mult_roll_, _channel_mult_heading_, _channel_mult_throttle_;
+     803             : 
+     804             :   ros::Timer timer_joystick_;
+     805             :   void       timerJoystick(const ros::TimerEvent& event);
+     806             :   double     _joystick_timer_rate_ = 0;
+     807             : 
+     808             :   double _joystick_carrot_distance_ = 0;
+     809             : 
+     810             :   ros::Time joystick_start_press_time_;
+     811             :   bool      joystick_start_pressed_ = false;
+     812             : 
+     813             :   ros::Time joystick_back_press_time_;
+     814             :   bool      joystick_back_pressed_ = false;
+     815             :   bool      joystick_goto_enabled_ = false;
+     816             : 
+     817             :   bool      joystick_failsafe_pressed_ = false;
+     818             :   ros::Time joystick_failsafe_press_time_;
+     819             : 
+     820             :   bool      joystick_eland_pressed_ = false;
+     821             :   ros::Time joystick_eland_press_time_;
+     822             : 
+     823             :   // | ------------------- RC joystick control ------------------ |
+     824             : 
+     825             :   // listening to the RC channels as told by pixhawk
+     826             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels> sh_hw_api_rc_;
+     827             : 
+     828             :   // the RC channel mapping of the main 4 control signals
+     829             :   double _rc_channel_pitch_, _rc_channel_roll_, _rc_channel_heading_, _rc_channel_throttle_;
+     830             : 
+     831             :   bool              _rc_goto_enabled_               = false;
+     832             :   std::atomic<bool> rc_goto_active_                 = false;
+     833             :   double            rc_joystick_channel_last_value_ = 0.5;
+     834             :   bool              rc_joystick_channel_was_low_    = false;
+     835             :   int               _rc_joystick_channel_           = 0;
+     836             : 
+     837             :   double _rc_horizontal_speed_ = 0;
+     838             :   double _rc_vertical_speed_   = 0;
+     839             :   double _rc_heading_rate_     = 0;
+     840             : 
+     841             :   // | ------------------- trajectory loading ------------------- |
+     842             : 
+     843             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_original_trajectory_poses_;
+     844             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_original_trajectory_markers_;
+     845             : 
+     846             :   // | --------------------- other routines --------------------- |
+     847             : 
+     848             :   // this is called to update the trackers and to receive position control command from the active one
+     849             :   void updateTrackers(void);
+     850             : 
+     851             :   // this is called to update the controllers and to receive attitude control command from the active one
+     852             :   void updateControllers(const mrs_msgs::UavState& uav_state);
+     853             : 
+     854             :   // sets the reference to the active tracker
+     855             :   std::tuple<bool, std::string> setReference(const mrs_msgs::ReferenceStamped reference_in);
+     856             : 
+     857             :   // sets the velocity reference to the active tracker
+     858             :   std::tuple<bool, std::string> setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in);
+     859             : 
+     860             :   // sets the reference trajectory to the active tracker
+     861             :   std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> setTrajectoryReference(
+     862             :       const mrs_msgs::TrajectoryReference trajectory_in);
+     863             : 
+     864             :   // publishes
+     865             :   void publish(void);
+     866             : 
+     867             :   bool loadConfigFile(const std::string& file_path, const std::string ns);
+     868             : 
+     869             :   double getMass(void);
+     870             : 
+     871             :   // publishes rviz-visualizable control reference
+     872             :   void publishControlReferenceOdom(const std::optional<mrs_msgs::TrackerCommand>& tracker_command, const Controller::ControlOutput& control_output);
+     873             : 
+     874             :   void initializeControlOutput(void);
+     875             : 
+     876             :   // tell the mrs_odometry to disable its callbacks
+     877             :   void odometryCallbacksSrv(const bool input);
+     878             : 
+     879             :   mrs_msgs::ReferenceStamped velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference);
+     880             : 
+     881             :   void                          shutdown();
+     882             :   void                          setCallbacks(bool in);
+     883             :   bool                          isOffboard(void);
+     884             :   bool                          elandSrv(void);
+     885             :   std::tuple<bool, std::string> arming(const bool input);
+     886             : 
+     887             :   // safety functions impl
+     888             :   std::tuple<bool, std::string> ehover(void);
+     889             :   std::tuple<bool, std::string> hover(void);
+     890             :   std::tuple<bool, std::string> startTrajectoryTracking(void);
+     891             :   std::tuple<bool, std::string> stopTrajectoryTracking(void);
+     892             :   std::tuple<bool, std::string> resumeTrajectoryTracking(void);
+     893             :   std::tuple<bool, std::string> gotoTrajectoryStart(void);
+     894             :   std::tuple<bool, std::string> eland(void);
+     895             :   std::tuple<bool, std::string> failsafe(void);
+     896             :   std::tuple<bool, std::string> escalatingFailsafe(void);
+     897             : 
+     898             :   EscalatingFailsafeStates_t getNextEscFailsafeState(void);
+     899             : };
+     900             : 
+     901             : //}
+     902             : 
+     903             : /* //{ onInit() */
+     904             : 
+     905          47 : void ControlManager::onInit() {
+     906          47 :   preinitialize();
+     907          47 : }
+     908             : 
+     909             : //}
+     910             : 
+     911             : /* preinitialize() //{ */
+     912             : 
+     913          47 : void ControlManager::preinitialize(void) {
+     914             : 
+     915          47 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     916             : 
+     917          47 :   ros::Time::waitForValid();
+     918             : 
+     919          47 :   mrs_lib::SubscribeHandlerOptions shopts;
+     920          47 :   shopts.nh                 = nh_;
+     921          47 :   shopts.node_name          = "ControlManager";
+     922          47 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     923          47 :   shopts.threadsafe         = true;
+     924          47 :   shopts.autostart          = true;
+     925          47 :   shopts.queue_size         = 10;
+     926          47 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     927             : 
+     928          47 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     929             : 
+     930          47 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerHwApiCapabilities, this);
+     931          47 : }
+     932             : 
+     933             : //}
+     934             : 
+     935             : /* initialize() //{ */
+     936             : 
+     937          47 : void ControlManager::initialize(void) {
+     938             : 
+     939          47 :   joystick_start_press_time_      = ros::Time(0);
+     940          47 :   joystick_failsafe_press_time_   = ros::Time(0);
+     941          47 :   joystick_eland_press_time_      = ros::Time(0);
+     942          47 :   escalating_failsafe_time_       = ros::Time(0);
+     943          47 :   controller_tracker_switch_time_ = ros::Time(0);
+     944             : 
+     945          47 :   ROS_INFO("[ControlManager]: initializing");
+     946             : 
+     947             :   // --------------------------------------------------------------
+     948             :   // |         common handler for trackers and controllers        |
+     949             :   // --------------------------------------------------------------
+     950             : 
+     951          47 :   common_handlers_ = std::make_shared<mrs_uav_managers::control_manager::CommonHandlers_t>();
+     952             : 
+     953             :   // --------------------------------------------------------------
+     954             :   // |                           params                           |
+     955             :   // --------------------------------------------------------------
+     956             : 
+     957          94 :   mrs_lib::ParamLoader param_loader(nh_, "ControlManager");
+     958             : 
+     959          47 :   param_loader.loadParam("custom_config", _custom_config_);
+     960          47 :   param_loader.loadParam("platform_config", _platform_config_);
+     961          47 :   param_loader.loadParam("world_config", _world_config_);
+     962          47 :   param_loader.loadParam("network_config", _network_config_);
+     963             : 
+     964          47 :   if (_custom_config_ != "") {
+     965          47 :     param_loader.addYamlFile(_custom_config_);
+     966             :   }
+     967             : 
+     968          47 :   if (_platform_config_ != "") {
+     969          47 :     param_loader.addYamlFile(_platform_config_);
+     970             :   }
+     971             : 
+     972          47 :   if (_world_config_ != "") {
+     973          47 :     param_loader.addYamlFile(_world_config_);
+     974             :   }
+     975             : 
+     976          47 :   if (_network_config_ != "") {
+     977          47 :     param_loader.addYamlFile(_network_config_);
+     978             :   }
+     979             : 
+     980          47 :   param_loader.addYamlFileFromParam("private_config");
+     981          47 :   param_loader.addYamlFileFromParam("public_config");
+     982          47 :   param_loader.addYamlFileFromParam("private_trackers");
+     983          47 :   param_loader.addYamlFileFromParam("private_controllers");
+     984          47 :   param_loader.addYamlFileFromParam("public_controllers");
+     985             : 
+     986             :   // params passed from the launch file are not prefixed
+     987          47 :   param_loader.loadParam("uav_name", _uav_name_);
+     988          47 :   param_loader.loadParam("body_frame", _body_frame_);
+     989          47 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     990          47 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     991          47 :   param_loader.loadParam("body_disturbance_x", _initial_body_disturbance_x_);
+     992          47 :   param_loader.loadParam("body_disturbance_y", _initial_body_disturbance_y_);
+     993          47 :   param_loader.loadParam("g", common_handlers_->g);
+     994             : 
+     995             :   // motor params are also not prefixed, since they are common to more nodes
+     996          47 :   param_loader.loadParam("motor_params/a", common_handlers_->throttle_model.A);
+     997          47 :   param_loader.loadParam("motor_params/b", common_handlers_->throttle_model.B);
+     998          47 :   param_loader.loadParam("motor_params/n_motors", common_handlers_->throttle_model.n_motors);
+     999             : 
+    1000             :   // | ----------------------- safety area ---------------------- |
+    1001             : 
+    1002             :   bool use_safety_area;
+    1003          47 :   param_loader.loadParam("safety_area/enabled", use_safety_area);
+    1004          47 :   use_safety_area_ = use_safety_area;
+    1005             : 
+    1006          47 :   param_loader.loadParam("safety_area/horizontal/frame_name", _safety_area_horizontal_frame_);
+    1007             : 
+    1008          47 :   param_loader.loadParam("safety_area/vertical/frame_name", _safety_area_vertical_frame_);
+    1009          47 :   param_loader.loadParam("safety_area/vertical/min_z", _safety_area_min_z_);
+    1010          47 :   param_loader.loadParam("safety_area/vertical/max_z", _safety_area_max_z_);
+    1011             : 
+    1012          47 :   if (use_safety_area_) {
+    1013             : 
+    1014         132 :     Eigen::MatrixXd border_points = param_loader.loadMatrixDynamic2("safety_area/horizontal/points", -1, 2);
+    1015             : 
+    1016             :     try {
+    1017             : 
+    1018          88 :       std::vector<Eigen::MatrixXd> polygon_obstacle_points;
+    1019          44 :       std::vector<Eigen::MatrixXd> point_obstacle_points;
+    1020             : 
+    1021          44 :       safety_zone_ = std::make_unique<mrs_lib::SafetyZone>(border_points);
+    1022             :     }
+    1023             : 
+    1024           0 :     catch (mrs_lib::SafetyZone::BorderError& e) {
+    1025           0 :       ROS_ERROR("[ControlManager]: SafetyArea: wrong configruation for the safety zone border polygon");
+    1026           0 :       ros::shutdown();
+    1027             :     }
+    1028           0 :     catch (...) {
+    1029           0 :       ROS_ERROR("[ControlManager]: SafetyArea: unhandled exception!");
+    1030           0 :       ros::shutdown();
+    1031             :     }
+    1032             : 
+    1033          44 :     ROS_INFO("[ControlManager]: safety area initialized");
+    1034             :   }
+    1035             : 
+    1036          47 :   param_loader.setPrefix("mrs_uav_managers/control_manager/");
+    1037             : 
+    1038          47 :   param_loader.loadParam("state_input", _state_input_);
+    1039             : 
+    1040          47 :   if (!(_state_input_ == INPUT_UAV_STATE || _state_input_ == INPUT_ODOMETRY)) {
+    1041           0 :     ROS_ERROR("[ControlManager]: the state_input parameter has to be in {0, 1}");
+    1042           0 :     ros::shutdown();
+    1043             :   }
+    1044             : 
+    1045          47 :   param_loader.loadParam("safety/min_throttle_null_tracker", _min_throttle_null_tracker_);
+    1046          47 :   param_loader.loadParam("safety/ehover_tracker", _ehover_tracker_name_);
+    1047          47 :   param_loader.loadParam("safety/failsafe_controller", _failsafe_controller_name_);
+    1048             : 
+    1049          47 :   param_loader.loadParam("safety/eland/controller", _eland_controller_name_);
+    1050          47 :   param_loader.loadParam("safety/eland/cutoff_mass_factor", _elanding_cutoff_mass_factor_);
+    1051          47 :   param_loader.loadParam("safety/eland/cutoff_timeout", _elanding_cutoff_timeout_);
+    1052          47 :   param_loader.loadParam("safety/eland/timer_rate", _elanding_timer_rate_);
+    1053          47 :   param_loader.loadParam("safety/eland/disarm", _eland_disarm_enabled_);
+    1054             : 
+    1055          47 :   param_loader.loadParam("safety/escalating_failsafe/service/enabled", _service_escalating_failsafe_enabled_);
+    1056          47 :   param_loader.loadParam("safety/escalating_failsafe/rc/enabled", _rc_escalating_failsafe_enabled_);
+    1057          47 :   param_loader.loadParam("safety/escalating_failsafe/rc/channel_number", _rc_escalating_failsafe_channel_);
+    1058          47 :   param_loader.loadParam("safety/escalating_failsafe/rc/threshold", _rc_escalating_failsafe_threshold_);
+    1059          47 :   param_loader.loadParam("safety/escalating_failsafe/timeout", _escalating_failsafe_timeout_);
+    1060          47 :   param_loader.loadParam("safety/escalating_failsafe/ehover", _escalating_failsafe_ehover_);
+    1061          47 :   param_loader.loadParam("safety/escalating_failsafe/eland", _escalating_failsafe_eland_);
+    1062          47 :   param_loader.loadParam("safety/escalating_failsafe/failsafe", _escalating_failsafe_failsafe_);
+    1063             : 
+    1064          47 :   param_loader.loadParam("safety/tilt_limit/eland/enabled", _tilt_limit_eland_enabled_);
+    1065          47 :   param_loader.loadParam("safety/tilt_limit/eland/limit", _tilt_limit_eland_);
+    1066             : 
+    1067          47 :   _tilt_limit_eland_ = M_PI * (_tilt_limit_eland_ / 180.0);
+    1068             : 
+    1069          47 :   if (_tilt_limit_eland_enabled_ && fabs(_tilt_limit_eland_) < 1e-3) {
+    1070           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/eland/enabled = 'TRUE' but the limit is too low");
+    1071           0 :     ros::shutdown();
+    1072             :   }
+    1073             : 
+    1074          47 :   param_loader.loadParam("safety/tilt_limit/disarm/enabled", _tilt_limit_disarm_enabled_);
+    1075          47 :   param_loader.loadParam("safety/tilt_limit/disarm/limit", _tilt_limit_disarm_);
+    1076             : 
+    1077          47 :   _tilt_limit_disarm_ = M_PI * (_tilt_limit_disarm_ / 180.0);
+    1078             : 
+    1079          47 :   if (_tilt_limit_disarm_enabled_ && fabs(_tilt_limit_disarm_) < 1e-3) {
+    1080           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/disarm/enabled = 'TRUE' but the limit is too low");
+    1081           0 :     ros::shutdown();
+    1082             :   }
+    1083             : 
+    1084          47 :   param_loader.loadParam("safety/yaw_error_eland/enabled", _yaw_error_eland_enabled_);
+    1085          47 :   param_loader.loadParam("safety/yaw_error_eland/limit", _yaw_error_eland_);
+    1086             : 
+    1087          47 :   _yaw_error_eland_ = M_PI * (_yaw_error_eland_ / 180.0);
+    1088             : 
+    1089          47 :   if (_yaw_error_eland_enabled_ && fabs(_yaw_error_eland_) < 1e-3) {
+    1090           0 :     ROS_ERROR("[ControlManager]: safety/yaw_error_eland/enabled = 'TRUE' but the limit is too low");
+    1091           0 :     ros::shutdown();
+    1092             :   }
+    1093             : 
+    1094          47 :   param_loader.loadParam("status_timer_rate", _status_timer_rate_);
+    1095          47 :   param_loader.loadParam("safety/safety_timer_rate", _safety_timer_rate_);
+    1096          47 :   param_loader.loadParam("safety/failsafe_timer_rate", _failsafe_timer_rate_);
+    1097          47 :   param_loader.loadParam("safety/rc_emergency_handoff/enabled", _rc_emergency_handoff_);
+    1098             : 
+    1099          47 :   param_loader.loadParam("safety/odometry_max_missing_time", _uav_state_max_missing_time_);
+    1100          47 :   param_loader.loadParam("safety/odometry_innovation_eland/enabled", _odometry_innovation_check_enabled_);
+    1101             : 
+    1102          47 :   param_loader.loadParam("safety/tilt_error_disarm/enabled", _tilt_error_disarm_enabled_);
+    1103          47 :   param_loader.loadParam("safety/tilt_error_disarm/timeout", _tilt_error_disarm_timeout_);
+    1104          47 :   param_loader.loadParam("safety/tilt_error_disarm/error_threshold", _tilt_error_disarm_threshold_);
+    1105             : 
+    1106          47 :   _tilt_error_disarm_threshold_ = M_PI * (_tilt_error_disarm_threshold_ / 180.0);
+    1107             : 
+    1108          47 :   if (_tilt_error_disarm_enabled_ && fabs(_tilt_error_disarm_threshold_) < 1e-3) {
+    1109           0 :     ROS_ERROR("[ControlManager]: safety/tilt_error_disarm/enabled = 'TRUE' but the limit is too low");
+    1110           0 :     ros::shutdown();
+    1111             :   }
+    1112             : 
+    1113             :   // default constraints
+    1114             : 
+    1115          47 :   param_loader.loadParam("default_constraints/horizontal/speed", current_constraints_.constraints.horizontal_speed);
+    1116          47 :   param_loader.loadParam("default_constraints/horizontal/acceleration", current_constraints_.constraints.horizontal_acceleration);
+    1117          47 :   param_loader.loadParam("default_constraints/horizontal/jerk", current_constraints_.constraints.horizontal_jerk);
+    1118          47 :   param_loader.loadParam("default_constraints/horizontal/snap", current_constraints_.constraints.horizontal_snap);
+    1119             : 
+    1120          47 :   param_loader.loadParam("default_constraints/vertical/ascending/speed", current_constraints_.constraints.vertical_ascending_speed);
+    1121          47 :   param_loader.loadParam("default_constraints/vertical/ascending/acceleration", current_constraints_.constraints.vertical_ascending_acceleration);
+    1122          47 :   param_loader.loadParam("default_constraints/vertical/ascending/jerk", current_constraints_.constraints.vertical_ascending_jerk);
+    1123          47 :   param_loader.loadParam("default_constraints/vertical/ascending/snap", current_constraints_.constraints.vertical_ascending_snap);
+    1124             : 
+    1125          47 :   param_loader.loadParam("default_constraints/vertical/descending/speed", current_constraints_.constraints.vertical_descending_speed);
+    1126          47 :   param_loader.loadParam("default_constraints/vertical/descending/acceleration", current_constraints_.constraints.vertical_descending_acceleration);
+    1127          47 :   param_loader.loadParam("default_constraints/vertical/descending/jerk", current_constraints_.constraints.vertical_descending_jerk);
+    1128          47 :   param_loader.loadParam("default_constraints/vertical/descending/snap", current_constraints_.constraints.vertical_descending_snap);
+    1129             : 
+    1130          47 :   param_loader.loadParam("default_constraints/heading/speed", current_constraints_.constraints.heading_speed);
+    1131          47 :   param_loader.loadParam("default_constraints/heading/acceleration", current_constraints_.constraints.heading_acceleration);
+    1132          47 :   param_loader.loadParam("default_constraints/heading/jerk", current_constraints_.constraints.heading_jerk);
+    1133          47 :   param_loader.loadParam("default_constraints/heading/snap", current_constraints_.constraints.heading_snap);
+    1134             : 
+    1135          47 :   param_loader.loadParam("default_constraints/angular_speed/roll", current_constraints_.constraints.roll_rate);
+    1136          47 :   param_loader.loadParam("default_constraints/angular_speed/pitch", current_constraints_.constraints.pitch_rate);
+    1137          47 :   param_loader.loadParam("default_constraints/angular_speed/yaw", current_constraints_.constraints.yaw_rate);
+    1138             : 
+    1139          47 :   param_loader.loadParam("default_constraints/tilt", current_constraints_.constraints.tilt);
+    1140             : 
+    1141          47 :   current_constraints_.constraints.tilt = M_PI * (current_constraints_.constraints.tilt / 180.0);
+    1142             : 
+    1143             :   // joystick
+    1144             : 
+    1145          47 :   param_loader.loadParam("joystick/enabled", _joystick_enabled_);
+    1146          47 :   param_loader.loadParam("joystick/mode", _joystick_mode_);
+    1147          47 :   param_loader.loadParam("joystick/carrot_distance", _joystick_carrot_distance_);
+    1148          47 :   param_loader.loadParam("joystick/joystick_timer_rate", _joystick_timer_rate_);
+    1149          47 :   param_loader.loadParam("joystick/attitude_control/tracker", _joystick_tracker_name_);
+    1150          47 :   param_loader.loadParam("joystick/attitude_control/controller", _joystick_controller_name_);
+    1151          47 :   param_loader.loadParam("joystick/attitude_control/fallback/tracker", _joystick_fallback_tracker_name_);
+    1152          47 :   param_loader.loadParam("joystick/attitude_control/fallback/controller", _joystick_fallback_controller_name_);
+    1153             : 
+    1154          47 :   param_loader.loadParam("joystick/channels/A", _channel_A_);
+    1155          47 :   param_loader.loadParam("joystick/channels/B", _channel_B_);
+    1156          47 :   param_loader.loadParam("joystick/channels/X", _channel_X_);
+    1157          47 :   param_loader.loadParam("joystick/channels/Y", _channel_Y_);
+    1158          47 :   param_loader.loadParam("joystick/channels/start", _channel_start_);
+    1159          47 :   param_loader.loadParam("joystick/channels/back", _channel_back_);
+    1160          47 :   param_loader.loadParam("joystick/channels/LT", _channel_LT_);
+    1161          47 :   param_loader.loadParam("joystick/channels/RT", _channel_RT_);
+    1162          47 :   param_loader.loadParam("joystick/channels/L_joy", _channel_L_joy_);
+    1163          47 :   param_loader.loadParam("joystick/channels/R_joy", _channel_R_joy_);
+    1164             : 
+    1165             :   // load channels
+    1166          47 :   param_loader.loadParam("joystick/channels/pitch", _channel_pitch_);
+    1167          47 :   param_loader.loadParam("joystick/channels/roll", _channel_roll_);
+    1168          47 :   param_loader.loadParam("joystick/channels/heading", _channel_heading_);
+    1169          47 :   param_loader.loadParam("joystick/channels/throttle", _channel_throttle_);
+    1170             : 
+    1171             :   // load channel multipliers
+    1172          47 :   param_loader.loadParam("joystick/channel_multipliers/pitch", _channel_mult_pitch_);
+    1173          47 :   param_loader.loadParam("joystick/channel_multipliers/roll", _channel_mult_roll_);
+    1174          47 :   param_loader.loadParam("joystick/channel_multipliers/heading", _channel_mult_heading_);
+    1175          47 :   param_loader.loadParam("joystick/channel_multipliers/throttle", _channel_mult_throttle_);
+    1176             : 
+    1177             :   bool bumper_enabled;
+    1178          47 :   param_loader.loadParam("obstacle_bumper/enabled", bumper_enabled);
+    1179          47 :   bumper_enabled_ = bumper_enabled;
+    1180             : 
+    1181          47 :   param_loader.loadParam("obstacle_bumper/switch_tracker", _bumper_switch_tracker_);
+    1182          47 :   param_loader.loadParam("obstacle_bumper/switch_controller", _bumper_switch_controller_);
+    1183          47 :   param_loader.loadParam("obstacle_bumper/tracker", _bumper_tracker_name_);
+    1184          47 :   param_loader.loadParam("obstacle_bumper/controller", _bumper_controller_name_);
+    1185          47 :   param_loader.loadParam("obstacle_bumper/timer_rate", _bumper_timer_rate_);
+    1186             : 
+    1187          47 :   param_loader.loadParam("obstacle_bumper/horizontal/threshold_distance", _bumper_horizontal_distance_);
+    1188          47 :   param_loader.loadParam("obstacle_bumper/vertical/threshold_distance", _bumper_vertical_distance_);
+    1189             : 
+    1190          47 :   param_loader.loadParam("obstacle_bumper/horizontal/overshoot", _bumper_horizontal_overshoot_);
+    1191          47 :   param_loader.loadParam("obstacle_bumper/vertical/overshoot", _bumper_vertical_overshoot_);
+    1192             : 
+    1193          47 :   param_loader.loadParam("safety/tracker_error_action", _tracker_error_action_);
+    1194             : 
+    1195          47 :   param_loader.loadParam("trajectory_tracking/snap_to_safety_area", _snap_trajectory_to_safety_area_);
+    1196             : 
+    1197             :   // check the values of tracker error action
+    1198          47 :   if (_tracker_error_action_ != ELAND_STR && _tracker_error_action_ != EHOVER_STR) {
+    1199           0 :     ROS_ERROR("[ControlManager]: the tracker_error_action parameter (%s) is not correct, requires {%s, %s}", _tracker_error_action_.c_str(), ELAND_STR,
+    1200             :               EHOVER_STR);
+    1201           0 :     ros::shutdown();
+    1202             :   }
+    1203             : 
+    1204          47 :   param_loader.loadParam("rc_joystick/enabled", _rc_goto_enabled_);
+    1205          47 :   param_loader.loadParam("rc_joystick/channel_number", _rc_joystick_channel_);
+    1206          47 :   param_loader.loadParam("rc_joystick/horizontal_speed", _rc_horizontal_speed_);
+    1207          47 :   param_loader.loadParam("rc_joystick/vertical_speed", _rc_vertical_speed_);
+    1208          47 :   param_loader.loadParam("rc_joystick/heading_rate", _rc_heading_rate_);
+    1209             : 
+    1210          47 :   param_loader.loadParam("rc_joystick/channels/pitch", _rc_channel_pitch_);
+    1211          47 :   param_loader.loadParam("rc_joystick/channels/roll", _rc_channel_roll_);
+    1212          47 :   param_loader.loadParam("rc_joystick/channels/heading", _rc_channel_heading_);
+    1213          47 :   param_loader.loadParam("rc_joystick/channels/throttle", _rc_channel_throttle_);
+    1214             : 
+    1215          47 :   param_loader.loadParam("automatic_pc_shutdown/enabled", _automatic_pc_shutdown_enabled_);
+    1216             : 
+    1217          47 :   param_loader.loadParam("pirouette/speed", _pirouette_speed_);
+    1218          47 :   param_loader.loadParam("pirouette/timer_rate", _pirouette_timer_rate_);
+    1219             : 
+    1220          47 :   param_loader.loadParam("safety/parachute/enabled", _parachute_enabled_);
+    1221             : 
+    1222             :   // --------------------------------------------------------------
+    1223             :   // |             initialize the last control output             |
+    1224             :   // --------------------------------------------------------------
+    1225             : 
+    1226          47 :   initializeControlOutput();
+    1227             : 
+    1228             :   // | --------------------- tf transformer --------------------- |
+    1229             : 
+    1230          47 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+    1231          47 :   transformer_->setDefaultPrefix(_uav_name_);
+    1232          47 :   transformer_->retryLookupNewest(true);
+    1233             : 
+    1234             :   // | ------------------- scope timer logger ------------------- |
+    1235             : 
+    1236          47 :   param_loader.loadParam("scope_timer/enabled", scope_timer_enabled_);
+    1237         141 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+    1238          47 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+    1239             : 
+    1240             :   // bind transformer to trackers and controllers for use
+    1241          47 :   common_handlers_->transformer = transformer_;
+    1242             : 
+    1243             :   // bind scope timer to trackers and controllers for use
+    1244          47 :   common_handlers_->scope_timer.enabled = scope_timer_enabled_;
+    1245          47 :   common_handlers_->scope_timer.logger  = scope_timer_logger_;
+    1246             : 
+    1247          47 :   common_handlers_->safety_area.use_safety_area       = use_safety_area_;
+    1248          47 :   common_handlers_->safety_area.isPointInSafetyArea2d = boost::bind(&ControlManager::isPointInSafetyArea2d, this, _1);
+    1249          47 :   common_handlers_->safety_area.isPointInSafetyArea3d = boost::bind(&ControlManager::isPointInSafetyArea3d, this, _1);
+    1250          47 :   common_handlers_->safety_area.getMinZ               = boost::bind(&ControlManager::getMinZ, this, _1);
+    1251          47 :   common_handlers_->safety_area.getMaxZ               = boost::bind(&ControlManager::getMaxZ, this, _1);
+    1252             : 
+    1253          47 :   common_handlers_->getMass = boost::bind(&ControlManager::getMass, this);
+    1254             : 
+    1255          47 :   common_handlers_->detailed_model_params = loadDetailedUavModelParams(nh_, "ControlManager", _platform_config_, _custom_config_);
+    1256             : 
+    1257          47 :   common_handlers_->control_output_modalities = _hw_api_inputs_;
+    1258             : 
+    1259          47 :   common_handlers_->uav_name = _uav_name_;
+    1260             : 
+    1261          47 :   common_handlers_->parent_nh = nh_;
+    1262             : 
+    1263             :   // --------------------------------------------------------------
+    1264             :   // |                        load trackers                       |
+    1265             :   // --------------------------------------------------------------
+    1266             : 
+    1267          94 :   std::vector<std::string> custom_trackers;
+    1268             : 
+    1269          47 :   param_loader.loadParam("mrs_trackers", _tracker_names_);
+    1270          47 :   param_loader.loadParam("trackers", custom_trackers);
+    1271             : 
+    1272          47 :   if (!custom_trackers.empty()) {
+    1273           1 :     _tracker_names_.insert(_tracker_names_.end(), custom_trackers.begin(), custom_trackers.end());
+    1274             :   }
+    1275             : 
+    1276          47 :   param_loader.loadParam("null_tracker", _null_tracker_name_);
+    1277          47 :   param_loader.loadParam("landing_takeoff_tracker", _landoff_tracker_name_);
+    1278             : 
+    1279          47 :   tracker_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Tracker>>("mrs_uav_managers", "mrs_uav_managers::Tracker");
+    1280             : 
+    1281         330 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    1282             : 
+    1283         566 :     std::string tracker_name = _tracker_names_[i];
+    1284             : 
+    1285             :     // load the controller parameters
+    1286         566 :     std::string address;
+    1287         566 :     std::string name_space;
+    1288             :     bool        human_switchable;
+    1289             : 
+    1290         283 :     param_loader.loadParam(tracker_name + "/address", address);
+    1291         283 :     param_loader.loadParam(tracker_name + "/namespace", name_space);
+    1292         283 :     param_loader.loadParam(tracker_name + "/human_switchable", human_switchable, false);
+    1293             : 
+    1294         849 :     TrackerParams new_tracker(address, name_space, human_switchable);
+    1295         283 :     trackers_.insert(std::pair<std::string, TrackerParams>(tracker_name, new_tracker));
+    1296             : 
+    1297             :     try {
+    1298         283 :       ROS_INFO("[ControlManager]: loading the tracker '%s'", new_tracker.address.c_str());
+    1299         283 :       tracker_list_.push_back(tracker_loader_->createInstance(new_tracker.address.c_str()));
+    1300             :     }
+    1301           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1302           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the tracker '%s'", new_tracker.address.c_str());
+    1303           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1304           0 :       ros::shutdown();
+    1305             :     }
+    1306           0 :     catch (pluginlib::PluginlibException& ex) {
+    1307           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the tracker '%s'", new_tracker.address.c_str());
+    1308           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1309           0 :       ros::shutdown();
+    1310             :     }
+    1311             :   }
+    1312             : 
+    1313          47 :   ROS_INFO("[ControlManager]: trackers were loaded");
+    1314             : 
+    1315         330 :   for (int i = 0; i < int(tracker_list_.size()); i++) {
+    1316             : 
+    1317         283 :     std::map<std::string, TrackerParams>::iterator it;
+    1318         283 :     it = trackers_.find(_tracker_names_[i]);
+    1319             : 
+    1320             :     // create private handlers
+    1321             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1322         566 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1323             : 
+    1324         283 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1325         283 :     private_handlers->name_space     = it->second.name_space;
+    1326         283 :     private_handlers->runtime_name   = _tracker_names_[i];
+    1327         283 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _tracker_names_[i]);
+    1328             : 
+    1329         283 :     if (_custom_config_ != "") {
+    1330         283 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1331             :     }
+    1332             : 
+    1333         283 :     if (_platform_config_ != "") {
+    1334         283 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1335             :     }
+    1336             : 
+    1337         283 :     if (_world_config_ != "") {
+    1338         283 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1339             :     }
+    1340             : 
+    1341         283 :     if (_network_config_ != "") {
+    1342         283 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1343             :     }
+    1344             : 
+    1345         283 :     bool success = false;
+    1346             : 
+    1347             :     try {
+    1348         283 :       ROS_INFO("[ControlManager]: initializing the tracker '%s'", it->second.address.c_str());
+    1349         283 :       success = tracker_list_[i]->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1350             :     }
+    1351           0 :     catch (std::runtime_error& ex) {
+    1352           0 :       ROS_ERROR("[ControlManager]: exception caught during tracker initialization: '%s'", ex.what());
+    1353             :     }
+    1354             : 
+    1355         283 :     if (!success) {
+    1356           0 :       ROS_ERROR("[ControlManager]: failed to initialize the tracker '%s'", it->second.address.c_str());
+    1357           0 :       ros::shutdown();
+    1358             :     }
+    1359             :   }
+    1360             : 
+    1361          47 :   ROS_INFO("[ControlManager]: trackers were initialized");
+    1362             : 
+    1363             :   // --------------------------------------------------------------
+    1364             :   // |           check the existance of selected trackers         |
+    1365             :   // --------------------------------------------------------------
+    1366             : 
+    1367             :   // | ------ check for the existance of the hover tracker ------ |
+    1368             : 
+    1369             :   // check if the hover_tracker is within the loaded trackers
+    1370             :   {
+    1371          47 :     auto idx = idxInVector(_ehover_tracker_name_, _tracker_names_);
+    1372             : 
+    1373          47 :     if (idx) {
+    1374          47 :       _ehover_tracker_idx_ = idx.value();
+    1375             :     } else {
+    1376           0 :       ROS_ERROR("[ControlManager]: the safety/hover_tracker (%s) is not within the loaded trackers", _ehover_tracker_name_.c_str());
+    1377           0 :       ros::shutdown();
+    1378             :     }
+    1379             :   }
+    1380             : 
+    1381             :   // | ----- check for the existence of the landoff tracker ----- |
+    1382             : 
+    1383             :   {
+    1384          47 :     auto idx = idxInVector(_landoff_tracker_name_, _tracker_names_);
+    1385             : 
+    1386          47 :     if (idx) {
+    1387          47 :       _landoff_tracker_idx_ = idx.value();
+    1388             :     } else {
+    1389           0 :       ROS_ERROR("[ControlManager]: the landoff tracker (%s) is not within the loaded trackers", _landoff_tracker_name_.c_str());
+    1390           0 :       ros::shutdown();
+    1391             :     }
+    1392             :   }
+    1393             : 
+    1394             :   // | ------- check for the existence of the null tracker ------ |
+    1395             : 
+    1396             :   {
+    1397          47 :     auto idx = idxInVector(_null_tracker_name_, _tracker_names_);
+    1398             : 
+    1399          47 :     if (idx) {
+    1400          47 :       _null_tracker_idx_ = idx.value();
+    1401             :     } else {
+    1402           0 :       ROS_ERROR("[ControlManager]: the null tracker (%s) is not within the loaded trackers", _null_tracker_name_.c_str());
+    1403           0 :       ros::shutdown();
+    1404             :     }
+    1405             :   }
+    1406             : 
+    1407             :   // --------------------------------------------------------------
+    1408             :   // |         check existance of trackers for joystick           |
+    1409             :   // --------------------------------------------------------------
+    1410             : 
+    1411          47 :   if (_joystick_enabled_) {
+    1412             : 
+    1413          47 :     auto idx = idxInVector(_joystick_tracker_name_, _tracker_names_);
+    1414             : 
+    1415          47 :     if (idx) {
+    1416          47 :       _joystick_tracker_idx_ = idx.value();
+    1417             :     } else {
+    1418           0 :       ROS_ERROR("[ControlManager]: the joystick tracker (%s) is not within the loaded trackers", _joystick_tracker_name_.c_str());
+    1419           0 :       ros::shutdown();
+    1420             :     }
+    1421             :   }
+    1422             : 
+    1423          47 :   if (_bumper_switch_tracker_) {
+    1424             : 
+    1425          47 :     auto idx = idxInVector(_bumper_tracker_name_, _tracker_names_);
+    1426             : 
+    1427          47 :     if (!idx) {
+    1428           0 :       ROS_ERROR("[ControlManager]: the bumper tracker (%s) is not within the loaded trackers", _bumper_tracker_name_.c_str());
+    1429           0 :       ros::shutdown();
+    1430             :     }
+    1431             :   }
+    1432             : 
+    1433             :   {
+    1434          47 :     auto idx = idxInVector(_joystick_fallback_tracker_name_, _tracker_names_);
+    1435             : 
+    1436          47 :     if (idx) {
+    1437          47 :       _joystick_fallback_tracker_idx_ = idx.value();
+    1438             :     } else {
+    1439           0 :       ROS_ERROR("[ControlManager]: the joystick fallback tracker (%s) is not within the loaded trackers", _joystick_fallback_tracker_name_.c_str());
+    1440           0 :       ros::shutdown();
+    1441             :     }
+    1442             :   }
+    1443             : 
+    1444             :   // --------------------------------------------------------------
+    1445             :   // |                    load the controllers                    |
+    1446             :   // --------------------------------------------------------------
+    1447             : 
+    1448          94 :   std::vector<std::string> custom_controllers;
+    1449             : 
+    1450          47 :   param_loader.loadParam("mrs_controllers", _controller_names_);
+    1451          47 :   param_loader.loadParam("controllers", custom_controllers);
+    1452             : 
+    1453          47 :   if (!custom_controllers.empty()) {
+    1454           0 :     _controller_names_.insert(_controller_names_.end(), custom_controllers.begin(), custom_controllers.end());
+    1455             :   }
+    1456             : 
+    1457          47 :   controller_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Controller>>("mrs_uav_managers", "mrs_uav_managers::Controller");
+    1458             : 
+    1459             :   // for each controller in the list
+    1460         282 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    1461             : 
+    1462         470 :     std::string controller_name = _controller_names_[i];
+    1463             : 
+    1464             :     // load the controller parameters
+    1465         470 :     std::string address;
+    1466         470 :     std::string name_space;
+    1467             :     double      eland_threshold, failsafe_threshold, odometry_innovation_threshold;
+    1468             :     bool        human_switchable;
+    1469         235 :     param_loader.loadParam(controller_name + "/address", address);
+    1470         235 :     param_loader.loadParam(controller_name + "/namespace", name_space);
+    1471         235 :     param_loader.loadParam(controller_name + "/eland_threshold", eland_threshold);
+    1472         235 :     param_loader.loadParam(controller_name + "/failsafe_threshold", failsafe_threshold);
+    1473         235 :     param_loader.loadParam(controller_name + "/odometry_innovation_threshold", odometry_innovation_threshold);
+    1474         235 :     param_loader.loadParam(controller_name + "/human_switchable", human_switchable, false);
+    1475             : 
+    1476             :     // check if the controller can output some of the required outputs
+    1477             :     {
+    1478             : 
+    1479         235 :       ControlOutputModalities_t outputs;
+    1480         235 :       param_loader.loadParam(controller_name + "/outputs/actuators", outputs.actuators, false);
+    1481         235 :       param_loader.loadParam(controller_name + "/outputs/control_group", outputs.control_group, false);
+    1482         235 :       param_loader.loadParam(controller_name + "/outputs/attitude_rate", outputs.attitude_rate, false);
+    1483         235 :       param_loader.loadParam(controller_name + "/outputs/attitude", outputs.attitude, false);
+    1484         235 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg_rate", outputs.acceleration_hdg_rate, false);
+    1485         235 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg", outputs.acceleration_hdg, false);
+    1486         235 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg_rate", outputs.velocity_hdg_rate, false);
+    1487         235 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg", outputs.velocity_hdg, false);
+    1488         235 :       param_loader.loadParam(controller_name + "/outputs/position", outputs.position, false);
+    1489             : 
+    1490         235 :       bool meets_actuators             = (_hw_api_inputs_.actuators && outputs.actuators);
+    1491         235 :       bool meets_control_group         = (_hw_api_inputs_.control_group && outputs.control_group);
+    1492         235 :       bool meets_attitude_rate         = (_hw_api_inputs_.attitude_rate && outputs.attitude_rate);
+    1493         235 :       bool meets_attitude              = (_hw_api_inputs_.attitude && outputs.attitude);
+    1494         235 :       bool meets_acceleration_hdg_rate = (_hw_api_inputs_.acceleration_hdg_rate && outputs.acceleration_hdg_rate);
+    1495         235 :       bool meets_acceleration_hdg      = (_hw_api_inputs_.acceleration_hdg && outputs.acceleration_hdg);
+    1496         235 :       bool meets_velocity_hdg_rate     = (_hw_api_inputs_.velocity_hdg_rate && outputs.velocity_hdg_rate);
+    1497         235 :       bool meets_velocity_hdg          = (_hw_api_inputs_.velocity_hdg && outputs.velocity_hdg);
+    1498         235 :       bool meets_position              = (_hw_api_inputs_.position && outputs.position);
+    1499             : 
+    1500         220 :       bool meets_requirements = meets_actuators || meets_control_group || meets_attitude_rate || meets_attitude || meets_acceleration_hdg_rate ||
+    1501         455 :                                 meets_acceleration_hdg || meets_velocity_hdg_rate || meets_velocity_hdg || meets_position;
+    1502             : 
+    1503         235 :       if (!meets_requirements) {
+    1504             : 
+    1505           0 :         ROS_ERROR("[ControlManager]: the controller '%s' does not meet the control output requirements, which are some of the following",
+    1506             :                   controller_name.c_str());
+    1507             : 
+    1508           0 :         if (_hw_api_inputs_.actuators) {
+    1509           0 :           ROS_ERROR("[ControlManager]: - actuators");
+    1510             :         }
+    1511             : 
+    1512           0 :         if (_hw_api_inputs_.control_group) {
+    1513           0 :           ROS_ERROR("[ControlManager]: - control group");
+    1514             :         }
+    1515             : 
+    1516           0 :         if (_hw_api_inputs_.attitude_rate) {
+    1517           0 :           ROS_ERROR("[ControlManager]: - attitude rate");
+    1518             :         }
+    1519             : 
+    1520           0 :         if (_hw_api_inputs_.attitude) {
+    1521           0 :           ROS_ERROR("[ControlManager]: - attitude");
+    1522             :         }
+    1523             : 
+    1524           0 :         if (_hw_api_inputs_.acceleration_hdg_rate) {
+    1525           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg rate");
+    1526             :         }
+    1527             : 
+    1528           0 :         if (_hw_api_inputs_.acceleration_hdg) {
+    1529           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg");
+    1530             :         }
+    1531             : 
+    1532           0 :         if (_hw_api_inputs_.velocity_hdg_rate) {
+    1533           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg rate");
+    1534             :         }
+    1535             : 
+    1536           0 :         if (_hw_api_inputs_.velocity_hdg) {
+    1537           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg");
+    1538             :         }
+    1539             : 
+    1540           0 :         if (_hw_api_inputs_.position) {
+    1541           0 :           ROS_ERROR("[ControlManager]: - position");
+    1542             :         }
+    1543             : 
+    1544           0 :         ros::shutdown();
+    1545             :       }
+    1546             : 
+    1547         235 :       if ((_hw_api_inputs_.actuators || _hw_api_inputs_.control_group) && !common_handlers_->detailed_model_params) {
+    1548           0 :         ROS_ERROR(
+    1549             :             "[ControlManager]: the HW API supports 'actuators' or 'control_group' input, but the 'detailed uav model params' were not loaded sucessfully");
+    1550           0 :         ros::shutdown();
+    1551             :       }
+    1552             :     }
+    1553             : 
+    1554             :     // | --- alter the timer rates based on the hw capabilities --- |
+    1555             : 
+    1556         235 :     CONTROL_OUTPUT lowest_output = getLowestOuput(_hw_api_inputs_);
+    1557             : 
+    1558         235 :     if (lowest_output == ACTUATORS_CMD || lowest_output == CONTROL_GROUP) {
+    1559          30 :       _safety_timer_rate_     = 200.0;
+    1560          30 :       desired_uav_state_rate_ = 250.0;
+    1561         205 :     } else if (lowest_output == ATTITUDE_RATE || lowest_output == ATTITUDE) {
+    1562         135 :       _safety_timer_rate_     = 100.0;
+    1563         135 :       desired_uav_state_rate_ = 100.0;
+    1564          70 :     } else if (lowest_output == ACCELERATION_HDG_RATE || lowest_output == ACCELERATION_HDG) {
+    1565          30 :       _safety_timer_rate_     = 30.0;
+    1566          30 :       _status_timer_rate_     = 1.0;
+    1567          30 :       desired_uav_state_rate_ = 40.0;
+    1568             : 
+    1569          30 :       if (_uav_state_max_missing_time_ < 0.2) {
+    1570           6 :         _uav_state_max_missing_time_ = 0.2;
+    1571             :       }
+    1572          40 :     } else if (lowest_output >= VELOCITY_HDG_RATE) {
+    1573          40 :       _safety_timer_rate_     = 20.0;
+    1574          40 :       _status_timer_rate_     = 1.0;
+    1575          40 :       desired_uav_state_rate_ = 20.0;
+    1576             : 
+    1577          40 :       if (_uav_state_max_missing_time_ < 1.0) {
+    1578           8 :         _uav_state_max_missing_time_ = 1.0;
+    1579             :       }
+    1580             :     }
+    1581             : 
+    1582         235 :     if (eland_threshold == 0) {
+    1583          48 :       eland_threshold = 1e6;
+    1584             :     }
+    1585             : 
+    1586         235 :     if (failsafe_threshold == 0) {
+    1587          48 :       failsafe_threshold = 1e6;
+    1588             :     }
+    1589             : 
+    1590         235 :     if (odometry_innovation_threshold == 0) {
+    1591          49 :       odometry_innovation_threshold = 1e6;
+    1592             :     }
+    1593             : 
+    1594         705 :     ControllerParams new_controller(address, name_space, eland_threshold, failsafe_threshold, odometry_innovation_threshold, human_switchable);
+    1595         235 :     controllers_.insert(std::pair<std::string, ControllerParams>(controller_name, new_controller));
+    1596             : 
+    1597             :     try {
+    1598         235 :       ROS_INFO("[ControlManager]: loading the controller '%s'", new_controller.address.c_str());
+    1599         235 :       controller_list_.push_back(controller_loader_->createInstance(new_controller.address.c_str()));
+    1600             :     }
+    1601           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1602           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the controller '%s'", new_controller.address.c_str());
+    1603           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1604           0 :       ros::shutdown();
+    1605             :     }
+    1606           0 :     catch (pluginlib::PluginlibException& ex) {
+    1607           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the controller '%s'", new_controller.address.c_str());
+    1608           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1609           0 :       ros::shutdown();
+    1610             :     }
+    1611             :   }
+    1612             : 
+    1613          47 :   ROS_INFO("[ControlManager]: controllers were loaded");
+    1614             : 
+    1615         282 :   for (int i = 0; i < int(controller_list_.size()); i++) {
+    1616             : 
+    1617         235 :     std::map<std::string, ControllerParams>::iterator it;
+    1618         235 :     it = controllers_.find(_controller_names_[i]);
+    1619             : 
+    1620             :     // create private handlers
+    1621             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1622         470 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1623             : 
+    1624         235 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1625         235 :     private_handlers->name_space     = it->second.name_space;
+    1626         235 :     private_handlers->runtime_name   = _controller_names_[i];
+    1627         235 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _controller_names_[i]);
+    1628             : 
+    1629         235 :     if (_custom_config_ != "") {
+    1630         235 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1631             :     }
+    1632             : 
+    1633         235 :     if (_platform_config_ != "") {
+    1634         235 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1635             :     }
+    1636             : 
+    1637         235 :     if (_world_config_ != "") {
+    1638         235 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1639             :     }
+    1640             : 
+    1641         235 :     if (_network_config_ != "") {
+    1642         235 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1643             :     }
+    1644             : 
+    1645         235 :     bool success = false;
+    1646             : 
+    1647             :     try {
+    1648             : 
+    1649         235 :       ROS_INFO("[ControlManager]: initializing the controller '%s'", it->second.address.c_str());
+    1650         235 :       success = controller_list_[i]->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1651             :     }
+    1652           0 :     catch (std::runtime_error& ex) {
+    1653           0 :       ROS_ERROR("[ControlManager]: exception caught during controller initialization: '%s'", ex.what());
+    1654             :     }
+    1655             : 
+    1656         235 :     if (!success) {
+    1657           0 :       ROS_ERROR("[ControlManager]: failed to initialize the controller '%s'", it->second.address.c_str());
+    1658           0 :       ros::shutdown();
+    1659             :     }
+    1660             :   }
+    1661             : 
+    1662          47 :   ROS_INFO("[ControlManager]: controllers were initialized");
+    1663             : 
+    1664             :   {
+    1665          47 :     auto idx = idxInVector(_failsafe_controller_name_, _controller_names_);
+    1666             : 
+    1667          47 :     if (idx) {
+    1668          47 :       _failsafe_controller_idx_ = idx.value();
+    1669             :     } else {
+    1670           0 :       ROS_ERROR("[ControlManager]: the failsafe controller (%s) is not within the loaded controllers", _failsafe_controller_name_.c_str());
+    1671           0 :       ros::shutdown();
+    1672             :     }
+    1673             :   }
+    1674             : 
+    1675             :   {
+    1676          47 :     auto idx = idxInVector(_eland_controller_name_, _controller_names_);
+    1677             : 
+    1678          47 :     if (idx) {
+    1679          47 :       _eland_controller_idx_ = idx.value();
+    1680             :     } else {
+    1681           0 :       ROS_ERROR("[ControlManager]: the eland controller (%s) is not within the loaded controllers", _eland_controller_name_.c_str());
+    1682           0 :       ros::shutdown();
+    1683             :     }
+    1684             :   }
+    1685             : 
+    1686             :   {
+    1687          47 :     auto idx = idxInVector(_joystick_controller_name_, _controller_names_);
+    1688             : 
+    1689          47 :     if (idx) {
+    1690          47 :       _joystick_controller_idx_ = idx.value();
+    1691             :     } else {
+    1692           0 :       ROS_ERROR("[ControlManager]: the joystick controller (%s) is not within the loaded controllers", _joystick_controller_name_.c_str());
+    1693           0 :       ros::shutdown();
+    1694             :     }
+    1695             :   }
+    1696             : 
+    1697          47 :   if (_bumper_switch_controller_) {
+    1698             : 
+    1699          47 :     auto idx = idxInVector(_bumper_controller_name_, _controller_names_);
+    1700             : 
+    1701          47 :     if (!idx) {
+    1702           0 :       ROS_ERROR("[ControlManager]: the bumper controller (%s) is not within the loaded controllers", _bumper_controller_name_.c_str());
+    1703           0 :       ros::shutdown();
+    1704             :     }
+    1705             :   }
+    1706             : 
+    1707             :   {
+    1708          47 :     auto idx = idxInVector(_joystick_fallback_controller_name_, _controller_names_);
+    1709             : 
+    1710          47 :     if (idx) {
+    1711          47 :       _joystick_fallback_controller_idx_ = idx.value();
+    1712             :     } else {
+    1713           0 :       ROS_ERROR("[ControlManager]: the joystick fallback controller (%s) is not within the loaded controllers", _joystick_fallback_controller_name_.c_str());
+    1714           0 :       ros::shutdown();
+    1715             :     }
+    1716             :   }
+    1717             : 
+    1718             :   // --------------------------------------------------------------
+    1719             :   // |                  activate the NullTracker                  |
+    1720             :   // --------------------------------------------------------------
+    1721             : 
+    1722          47 :   ROS_INFO("[ControlManager]: activating the null tracker");
+    1723             : 
+    1724          47 :   tracker_list_[_null_tracker_idx_]->activate(last_tracker_cmd_);
+    1725          47 :   active_tracker_idx_ = _null_tracker_idx_;
+    1726             : 
+    1727             :   // --------------------------------------------------------------
+    1728             :   // |    activate the eland controller as the first controller   |
+    1729             :   // --------------------------------------------------------------
+    1730             : 
+    1731          47 :   ROS_INFO("[ControlManager]: activating the the eland controller (%s) as the first controller", _controller_names_[_eland_controller_idx_].c_str());
+    1732             : 
+    1733          47 :   controller_list_[_eland_controller_idx_]->activate(last_control_output_);
+    1734          47 :   active_controller_idx_ = _eland_controller_idx_;
+    1735             : 
+    1736             :   // update the time
+    1737             :   {
+    1738          94 :     std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    1739             : 
+    1740          47 :     controller_tracker_switch_time_ = ros::Time::now();
+    1741             :   }
+    1742             : 
+    1743          47 :   output_enabled_ = false;
+    1744             : 
+    1745             :   // | --------------- set the default constraints -------------- |
+    1746             : 
+    1747          47 :   sanitized_constraints_ = current_constraints_;
+    1748          47 :   setConstraints(current_constraints_);
+    1749             : 
+    1750             :   // | ------------------------ profiler ------------------------ |
+    1751             : 
+    1752          47 :   profiler_ = mrs_lib::Profiler(nh_, "ControlManager", _profiler_enabled_);
+    1753             : 
+    1754             :   // | ----------------------- publishers ----------------------- |
+    1755             : 
+    1756          47 :   control_output_publisher_ = OutputPublisher(nh_);
+    1757             : 
+    1758          47 :   ph_controller_diagnostics_             = mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>(nh_, "controller_diagnostics_out", 1);
+    1759          47 :   ph_tracker_cmd_                        = mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>(nh_, "tracker_cmd_out", 1);
+    1760          47 :   ph_mrs_odom_input_                     = mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>(nh_, "estimator_input_out", 1);
+    1761          47 :   ph_control_reference_odom_             = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "control_reference_out", 1);
+    1762          47 :   ph_diagnostics_                        = mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics>(nh_, "diagnostics_out", 1);
+    1763          47 :   ph_offboard_on_                        = mrs_lib::PublisherHandler<std_msgs::Empty>(nh_, "offboard_on_out", 1);
+    1764          47 :   ph_tilt_error_                         = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "tilt_error_out", 1);
+    1765          47 :   ph_mass_estimate_                      = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_estimate_out", 1, false, 10.0);
+    1766          47 :   ph_throttle_                           = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "throttle_out", 1, false, 10.0);
+    1767          47 :   ph_thrust_                             = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "thrust_out", 1, false, 100.0);
+    1768          47 :   ph_control_error_                      = mrs_lib::PublisherHandler<mrs_msgs::ControlError>(nh_, "control_error_out", 1);
+    1769          47 :   ph_safety_area_markers_                = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_markers_out", 1, true, 1.0);
+    1770          47 :   ph_safety_area_coordinates_markers_    = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_coordinates_markers_out", 1, true, 1.0);
+    1771          47 :   ph_disturbances_markers_               = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "disturbances_markers_out", 1, false, 10.0);
+    1772          47 :   ph_bumper_status_                      = mrs_lib::PublisherHandler<mrs_msgs::BumperStatus>(nh_, "bumper_status_out", 1);
+    1773          47 :   ph_current_constraints_                = mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>(nh_, "current_constraints_out", 1);
+    1774          47 :   ph_heading_                            = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "heading_out", 1);
+    1775          47 :   ph_speed_                              = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "speed_out", 1, false, 10.0);
+    1776          47 :   pub_debug_original_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_original/poses_out", 1, true);
+    1777          47 :   pub_debug_original_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_original/markers_out", 1, true);
+    1778             : 
+    1779             :   // | ----------------------- subscribers ---------------------- |
+    1780             : 
+    1781          94 :   mrs_lib::SubscribeHandlerOptions shopts;
+    1782          47 :   shopts.nh                 = nh_;
+    1783          47 :   shopts.node_name          = "ControlManager";
+    1784          47 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+    1785          47 :   shopts.threadsafe         = true;
+    1786          47 :   shopts.autostart          = true;
+    1787          47 :   shopts.queue_size         = 10;
+    1788          47 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+    1789             : 
+    1790          47 :   if (_state_input_ == INPUT_UAV_STATE) {
+    1791          47 :     sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &ControlManager::callbackUavState, this);
+    1792           0 :   } else if (_state_input_ == INPUT_ODOMETRY) {
+    1793           0 :     sh_odometry_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &ControlManager::callbackOdometry, this);
+    1794             :   }
+    1795             : 
+    1796          47 :   if (_odometry_innovation_check_enabled_) {
+    1797          47 :     sh_odometry_innovation_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_innovation_in");
+    1798             :   }
+    1799             : 
+    1800          47 :   sh_bumper_    = mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors>(shopts, "bumper_sectors_in");
+    1801          47 :   sh_max_z_     = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_z_in");
+    1802          47 :   sh_joystick_  = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick_in", &ControlManager::callbackJoystick, this);
+    1803          47 :   sh_gnss_      = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &ControlManager::callbackGNSS, this);
+    1804          47 :   sh_hw_api_rc_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels>(shopts, "hw_api_rc_in", &ControlManager::callbackRC, this);
+    1805             : 
+    1806          47 :   sh_hw_api_status_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &ControlManager::callbackHwApiStatus, this);
+    1807             : 
+    1808             :   // | -------------------- general services -------------------- |
+    1809             : 
+    1810          47 :   service_server_switch_tracker_             = nh_.advertiseService("switch_tracker_in", &ControlManager::callbackSwitchTracker, this);
+    1811          47 :   service_server_switch_controller_          = nh_.advertiseService("switch_controller_in", &ControlManager::callbackSwitchController, this);
+    1812          47 :   service_server_reset_tracker_              = nh_.advertiseService("tracker_reset_static_in", &ControlManager::callbackTrackerResetStatic, this);
+    1813          47 :   service_server_hover_                      = nh_.advertiseService("hover_in", &ControlManager::callbackHover, this);
+    1814          47 :   service_server_ehover_                     = nh_.advertiseService("ehover_in", &ControlManager::callbackEHover, this);
+    1815          47 :   service_server_failsafe_                   = nh_.advertiseService("failsafe_in", &ControlManager::callbackFailsafe, this);
+    1816          47 :   service_server_failsafe_escalating_        = nh_.advertiseService("failsafe_escalating_in", &ControlManager::callbackFailsafeEscalating, this);
+    1817          47 :   service_server_toggle_output_              = nh_.advertiseService("toggle_output_in", &ControlManager::callbackToggleOutput, this);
+    1818          47 :   service_server_arm_                        = nh_.advertiseService("arm_in", &ControlManager::callbackArm, this);
+    1819          47 :   service_server_enable_callbacks_           = nh_.advertiseService("enable_callbacks_in", &ControlManager::callbackEnableCallbacks, this);
+    1820          47 :   service_server_set_constraints_            = nh_.advertiseService("set_constraints_in", &ControlManager::callbackSetConstraints, this);
+    1821          47 :   service_server_use_joystick_               = nh_.advertiseService("use_joystick_in", &ControlManager::callbackUseJoystick, this);
+    1822          47 :   service_server_use_safety_area_            = nh_.advertiseService("use_safety_area_in", &ControlManager::callbackUseSafetyArea, this);
+    1823          47 :   service_server_eland_                      = nh_.advertiseService("eland_in", &ControlManager::callbackEland, this);
+    1824          47 :   service_server_parachute_                  = nh_.advertiseService("parachute_in", &ControlManager::callbackParachute, this);
+    1825          47 :   service_server_transform_reference_        = nh_.advertiseService("transform_reference_in", &ControlManager::callbackTransformReference, this);
+    1826          47 :   service_server_transform_pose_             = nh_.advertiseService("transform_pose_in", &ControlManager::callbackTransformPose, this);
+    1827          47 :   service_server_transform_vector3_          = nh_.advertiseService("transform_vector3_in", &ControlManager::callbackTransformVector3, this);
+    1828          47 :   service_server_bumper_enabler_             = nh_.advertiseService("bumper_in", &ControlManager::callbackEnableBumper, this);
+    1829          47 :   service_server_get_min_z_                  = nh_.advertiseService("get_min_z_in", &ControlManager::callbackGetMinZ, this);
+    1830          47 :   service_server_validate_reference_         = nh_.advertiseService("validate_reference_in", &ControlManager::callbackValidateReference, this);
+    1831          47 :   service_server_validate_reference_2d_      = nh_.advertiseService("validate_reference_2d_in", &ControlManager::callbackValidateReference2d, this);
+    1832          47 :   service_server_validate_reference_list_    = nh_.advertiseService("validate_reference_list_in", &ControlManager::callbackValidateReferenceList, this);
+    1833          47 :   service_server_start_trajectory_tracking_  = nh_.advertiseService("start_trajectory_tracking_in", &ControlManager::callbackStartTrajectoryTracking, this);
+    1834          47 :   service_server_stop_trajectory_tracking_   = nh_.advertiseService("stop_trajectory_tracking_in", &ControlManager::callbackStopTrajectoryTracking, this);
+    1835          47 :   service_server_resume_trajectory_tracking_ = nh_.advertiseService("resume_trajectory_tracking_in", &ControlManager::callbackResumeTrajectoryTracking, this);
+    1836          47 :   service_server_goto_trajectory_start_      = nh_.advertiseService("goto_trajectory_start_in", &ControlManager::callbackGotoTrajectoryStart, this);
+    1837             : 
+    1838          47 :   sch_arming_                 = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "hw_api_arming_out");
+    1839          47 :   sch_eland_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+    1840          47 :   sch_shutdown_               = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "shutdown_out");
+    1841          47 :   sch_set_odometry_callbacks_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+    1842          47 :   sch_ungrip_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+    1843          47 :   sch_parachute_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "parachute_out");
+    1844             : 
+    1845             :   // | ---------------- setpoint command services --------------- |
+    1846             : 
+    1847             :   // human callable
+    1848          47 :   service_server_goto_                 = nh_.advertiseService("goto_in", &ControlManager::callbackGoto, this);
+    1849          47 :   service_server_goto_fcu_             = nh_.advertiseService("goto_fcu_in", &ControlManager::callbackGotoFcu, this);
+    1850          47 :   service_server_goto_relative_        = nh_.advertiseService("goto_relative_in", &ControlManager::callbackGotoRelative, this);
+    1851          47 :   service_server_goto_altitude_        = nh_.advertiseService("goto_altitude_in", &ControlManager::callbackGotoAltitude, this);
+    1852          47 :   service_server_set_heading_          = nh_.advertiseService("set_heading_in", &ControlManager::callbackSetHeading, this);
+    1853          47 :   service_server_set_heading_relative_ = nh_.advertiseService("set_heading_relative_in", &ControlManager::callbackSetHeadingRelative, this);
+    1854             : 
+    1855          47 :   service_server_reference_ = nh_.advertiseService("reference_in", &ControlManager::callbackReferenceService, this);
+    1856          47 :   sh_reference_             = mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped>(shopts, "reference_in", &ControlManager::callbackReferenceTopic, this);
+    1857             : 
+    1858          47 :   service_server_velocity_reference_ = nh_.advertiseService("velocity_reference_in", &ControlManager::callbackVelocityReferenceService, this);
+    1859             :   sh_velocity_reference_ =
+    1860          47 :       mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped>(shopts, "velocity_reference_in", &ControlManager::callbackVelocityReferenceTopic, this);
+    1861             : 
+    1862          47 :   service_server_trajectory_reference_ = nh_.advertiseService("trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceService, this);
+    1863             :   sh_trajectory_reference_ =
+    1864          47 :       mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference>(shopts, "trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceTopic, this);
+    1865             : 
+    1866             :   // | --------------------- other services --------------------- |
+    1867             : 
+    1868          47 :   service_server_emergency_reference_ = nh_.advertiseService("emergency_reference_in", &ControlManager::callbackEmergencyReference, this);
+    1869          47 :   service_server_pirouette_           = nh_.advertiseService("pirouette_in", &ControlManager::callbackPirouette, this);
+    1870             : 
+    1871             :   // | ------------------------- timers ------------------------- |
+    1872             : 
+    1873          47 :   timer_status_    = nh_.createTimer(ros::Rate(_status_timer_rate_), &ControlManager::timerStatus, this);
+    1874          47 :   timer_safety_    = nh_.createTimer(ros::Rate(_safety_timer_rate_), &ControlManager::timerSafety, this);
+    1875          47 :   timer_bumper_    = nh_.createTimer(ros::Rate(_bumper_timer_rate_), &ControlManager::timerBumper, this, false, bumper_enabled_);
+    1876          47 :   timer_eland_     = nh_.createTimer(ros::Rate(_elanding_timer_rate_), &ControlManager::timerEland, this, false, false);
+    1877          47 :   timer_failsafe_  = nh_.createTimer(ros::Rate(_failsafe_timer_rate_), &ControlManager::timerFailsafe, this, false, false);
+    1878          47 :   timer_pirouette_ = nh_.createTimer(ros::Rate(_pirouette_timer_rate_), &ControlManager::timerPirouette, this, false, false);
+    1879          47 :   timer_joystick_  = nh_.createTimer(ros::Rate(_joystick_timer_rate_), &ControlManager::timerJoystick, this);
+    1880             : 
+    1881             :   // | ----------------------- finish init ---------------------- |
+    1882             : 
+    1883          47 :   if (!param_loader.loadedSuccessfully()) {
+    1884           0 :     ROS_ERROR("[ControlManager]: could not load all parameters!");
+    1885           0 :     ros::shutdown();
+    1886             :   }
+    1887             : 
+    1888          47 :   is_initialized_ = true;
+    1889             : 
+    1890          47 :   ROS_INFO("[ControlManager]: initialized");
+    1891          47 : }
+    1892             : 
+    1893             : //}
+    1894             : 
+    1895             : // --------------------------------------------------------------
+    1896             : // |                           timers                           |
+    1897             : // --------------------------------------------------------------
+    1898             : 
+    1899             : /* timerHwApiCapabilities() //{ */
+    1900             : 
+    1901          78 : void ControlManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+    1902             : 
+    1903         156 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", _status_timer_rate_, 1.0, event);
+    1904         156 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+    1905             : 
+    1906          78 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+    1907          31 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+    1908          31 :     return;
+    1909             :   }
+    1910             : 
+    1911          94 :   auto hw_ap_capabilities = sh_hw_api_capabilities_.getMsg();
+    1912             : 
+    1913          47 :   ROS_INFO("[ControlManager]: got HW API capabilities, the possible control modes are:");
+    1914             : 
+    1915          47 :   if (hw_ap_capabilities->accepts_actuator_cmd) {
+    1916           3 :     ROS_INFO("[ControlManager]: - actuator command");
+    1917           3 :     _hw_api_inputs_.actuators = true;
+    1918             :   }
+    1919             : 
+    1920          47 :   if (hw_ap_capabilities->accepts_control_group_cmd) {
+    1921           3 :     ROS_INFO("[ControlManager]: - control group command");
+    1922           3 :     _hw_api_inputs_.control_group = true;
+    1923             :   }
+    1924             : 
+    1925          47 :   if (hw_ap_capabilities->accepts_attitude_rate_cmd) {
+    1926          24 :     ROS_INFO("[ControlManager]: - attitude rate command");
+    1927          24 :     _hw_api_inputs_.attitude_rate = true;
+    1928             :   }
+    1929             : 
+    1930          47 :   if (hw_ap_capabilities->accepts_attitude_cmd) {
+    1931          24 :     ROS_INFO("[ControlManager]: - attitude command");
+    1932          24 :     _hw_api_inputs_.attitude = true;
+    1933             :   }
+    1934             : 
+    1935          47 :   if (hw_ap_capabilities->accepts_acceleration_hdg_rate_cmd) {
+    1936           3 :     ROS_INFO("[ControlManager]: - acceleration+hdg rate command");
+    1937           3 :     _hw_api_inputs_.acceleration_hdg_rate = true;
+    1938             :   }
+    1939             : 
+    1940          47 :   if (hw_ap_capabilities->accepts_acceleration_hdg_cmd) {
+    1941           3 :     ROS_INFO("[ControlManager]: - acceleration+hdg command");
+    1942           3 :     _hw_api_inputs_.acceleration_hdg = true;
+    1943             :   }
+    1944             : 
+    1945          47 :   if (hw_ap_capabilities->accepts_velocity_hdg_rate_cmd) {
+    1946           3 :     ROS_INFO("[ControlManager]: - velocityhdg rate command");
+    1947           3 :     _hw_api_inputs_.velocity_hdg_rate = true;
+    1948             :   }
+    1949             : 
+    1950          47 :   if (hw_ap_capabilities->accepts_velocity_hdg_cmd) {
+    1951           3 :     ROS_INFO("[ControlManager]: - velocityhdg command");
+    1952           3 :     _hw_api_inputs_.velocity_hdg = true;
+    1953             :   }
+    1954             : 
+    1955          47 :   if (hw_ap_capabilities->accepts_position_cmd) {
+    1956           2 :     ROS_INFO("[ControlManager]: - position command");
+    1957           2 :     _hw_api_inputs_.position = true;
+    1958             :   }
+    1959             : 
+    1960          47 :   initialize();
+    1961             : 
+    1962          47 :   timer_hw_api_capabilities_.stop();
+    1963             : }
+    1964             : 
+    1965             : //}
+    1966             : 
+    1967             : /* //{ timerStatus() */
+    1968             : 
+    1969        4764 : void ControlManager::timerStatus(const ros::TimerEvent& event) {
+    1970             : 
+    1971        4764 :   if (!is_initialized_)
+    1972           0 :     return;
+    1973             : 
+    1974       14292 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerStatus", _status_timer_rate_, 0.1, event);
+    1975       14292 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerStatus", scope_timer_logger_, scope_timer_enabled_);
+    1976             : 
+    1977             :   // copy member variables
+    1978        9528 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1979        9528 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    1980        9528 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    1981        4764 :   auto yaw_error             = mrs_lib::get_mutexed(mutex_attitude_error_, yaw_error_);
+    1982        4764 :   auto position_error        = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    1983        4764 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    1984        4764 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    1985             : 
+    1986             :   double uav_x, uav_y, uav_z;
+    1987        4764 :   uav_x = uav_state.pose.position.x;
+    1988        4764 :   uav_y = uav_state.pose.position.y;
+    1989        4764 :   uav_z = uav_state.pose.position.z;
+    1990             : 
+    1991             :   // --------------------------------------------------------------
+    1992             :   // |                      print the status                      |
+    1993             :   // --------------------------------------------------------------
+    1994             : 
+    1995             :   {
+    1996        9528 :     std::string controller = _controller_names_[active_controller_idx];
+    1997        9528 :     std::string tracker    = _tracker_names_[active_tracker_idx];
+    1998        4764 :     double      mass       = last_control_output.diagnostics.total_mass;
+    1999        4764 :     double      bx_b       = last_control_output.diagnostics.disturbance_bx_b;
+    2000        4764 :     double      by_b       = last_control_output.diagnostics.disturbance_by_b;
+    2001        4764 :     double      wx_w       = last_control_output.diagnostics.disturbance_wx_w;
+    2002        4764 :     double      wy_w       = last_control_output.diagnostics.disturbance_wy_w;
+    2003             : 
+    2004        4764 :     ROS_INFO_THROTTLE(5.0, "[ControlManager]: tracker: '%s', controller: '%s', mass: '%.2f kg', disturbances: body [%.2f, %.2f] N, world [%.2f, %.2f] N",
+    2005             :                       tracker.c_str(), controller.c_str(), mass, bx_b, by_b, wx_w, wy_w);
+    2006             :   }
+    2007             : 
+    2008             :   // --------------------------------------------------------------
+    2009             :   // |                   publish the diagnostics                  |
+    2010             :   // --------------------------------------------------------------
+    2011             : 
+    2012        4764 :   publishDiagnostics();
+    2013             : 
+    2014             :   // --------------------------------------------------------------
+    2015             :   // |                publish if the offboard is on               |
+    2016             :   // --------------------------------------------------------------
+    2017             : 
+    2018        4764 :   if (offboard_mode_) {
+    2019             : 
+    2020        3303 :     std_msgs::Empty offboard_on_out;
+    2021             : 
+    2022        3303 :     ph_offboard_on_.publish(offboard_on_out);
+    2023             :   }
+    2024             : 
+    2025             :   // --------------------------------------------------------------
+    2026             :   // |                   publish the tilt error                   |
+    2027             :   // --------------------------------------------------------------
+    2028             :   {
+    2029        9528 :     std::scoped_lock lock(mutex_attitude_error_);
+    2030             : 
+    2031        4764 :     if (tilt_error_) {
+    2032             : 
+    2033        9528 :       mrs_msgs::Float64Stamped tilt_error_out;
+    2034        4764 :       tilt_error_out.header.stamp    = ros::Time::now();
+    2035        4764 :       tilt_error_out.header.frame_id = uav_state.header.frame_id;
+    2036        4764 :       tilt_error_out.value           = (180.0 / M_PI) * tilt_error_.value();
+    2037             : 
+    2038        4764 :       ph_tilt_error_.publish(tilt_error_out);
+    2039             :     }
+    2040             :   }
+    2041             : 
+    2042             :   // --------------------------------------------------------------
+    2043             :   // |                  publish the control error                 |
+    2044             :   // --------------------------------------------------------------
+    2045             : 
+    2046        4764 :   if (position_error) {
+    2047             : 
+    2048        3042 :     Eigen::Vector3d pos_error_value = position_error.value();
+    2049             : 
+    2050        6084 :     mrs_msgs::ControlError msg_out;
+    2051             : 
+    2052        3042 :     msg_out.header.stamp    = ros::Time::now();
+    2053        3042 :     msg_out.header.frame_id = uav_state.header.frame_id;
+    2054             : 
+    2055        3042 :     msg_out.position_errors.x    = pos_error_value[0];
+    2056        3042 :     msg_out.position_errors.y    = pos_error_value[1];
+    2057        3042 :     msg_out.position_errors.z    = pos_error_value[2];
+    2058        3042 :     msg_out.total_position_error = pos_error_value.norm();
+    2059             : 
+    2060        3042 :     if (yaw_error_) {
+    2061        3042 :       msg_out.yaw_error = yaw_error.value();
+    2062             :     }
+    2063             : 
+    2064        3042 :     std::map<std::string, ControllerParams>::iterator it;
+    2065             : 
+    2066        3042 :     it = controllers_.find(_controller_names_[active_controller_idx]);
+    2067             : 
+    2068        3042 :     msg_out.position_eland_threshold    = it->second.eland_threshold;
+    2069        3042 :     msg_out.position_failsafe_threshold = it->second.failsafe_threshold;
+    2070             : 
+    2071        3042 :     ph_control_error_.publish(msg_out);
+    2072             :   }
+    2073             : 
+    2074             :   // --------------------------------------------------------------
+    2075             :   // |                  publish the mass estimate                 |
+    2076             :   // --------------------------------------------------------------
+    2077             : 
+    2078        4764 :   if (last_control_output.diagnostics.mass_estimator) {
+    2079             : 
+    2080        2734 :     std_msgs::Float64 mass_estimate_out;
+    2081        2734 :     mass_estimate_out.data = _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    2082             : 
+    2083        2734 :     ph_mass_estimate_.publish(mass_estimate_out);
+    2084             :   }
+    2085             : 
+    2086             :   // --------------------------------------------------------------
+    2087             :   // |                 publish the current heading                |
+    2088             :   // --------------------------------------------------------------
+    2089             : 
+    2090        4764 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2091             : 
+    2092             :     try {
+    2093             : 
+    2094             :       double heading;
+    2095             : 
+    2096        3761 :       heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2097             : 
+    2098        7522 :       mrs_msgs::Float64Stamped heading_out;
+    2099        3761 :       heading_out.header = uav_state.header;
+    2100        3761 :       heading_out.value  = heading;
+    2101             : 
+    2102        3761 :       ph_heading_.publish(heading_out);
+    2103             :     }
+    2104           0 :     catch (...) {
+    2105           0 :       ROS_ERROR_THROTTLE(1.0, "exception caught, could not transform heading");
+    2106             :     }
+    2107             :   }
+    2108             : 
+    2109             :   // --------------------------------------------------------------
+    2110             :   // |                  publish the current speed                 |
+    2111             :   // --------------------------------------------------------------
+    2112             : 
+    2113        4764 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2114             : 
+    2115        3761 :     double speed = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2) + pow(uav_state.velocity.linear.z, 2));
+    2116             : 
+    2117        7522 :     mrs_msgs::Float64Stamped speed_out;
+    2118        3761 :     speed_out.header = uav_state.header;
+    2119        3761 :     speed_out.value  = speed;
+    2120             : 
+    2121        3761 :     ph_speed_.publish(speed_out);
+    2122             :   }
+    2123             : 
+    2124             :   // --------------------------------------------------------------
+    2125             :   // |               publish the safety area markers              |
+    2126             :   // --------------------------------------------------------------
+    2127             : 
+    2128        4764 :   if (use_safety_area_) {
+    2129             : 
+    2130        8644 :     mrs_msgs::ReferenceStamped temp_ref;
+    2131        4322 :     temp_ref.header.frame_id = _safety_area_horizontal_frame_;
+    2132             : 
+    2133        8644 :     geometry_msgs::TransformStamped tf;
+    2134             : 
+    2135       12966 :     auto ret = transformer_->getTransform(_safety_area_horizontal_frame_, "local_origin", ros::Time(0));
+    2136             : 
+    2137        4322 :     if (ret) {
+    2138             : 
+    2139        3346 :       ROS_INFO_ONCE("[ControlManager]: got TFs, publishing safety area markers");
+    2140             : 
+    2141        6692 :       visualization_msgs::MarkerArray safety_area_marker_array;
+    2142        6692 :       visualization_msgs::MarkerArray safety_area_coordinates_marker_array;
+    2143             : 
+    2144        6692 :       mrs_lib::Polygon border = safety_zone_->getBorder();
+    2145             : 
+    2146        6692 :       std::vector<geometry_msgs::Point> border_points_bot_original = border.getPointMessageVector(getMinZ(_safety_area_horizontal_frame_));
+    2147        6692 :       std::vector<geometry_msgs::Point> border_points_top_original = border.getPointMessageVector(getMaxZ(_safety_area_horizontal_frame_));
+    2148             : 
+    2149        6692 :       std::vector<geometry_msgs::Point> border_points_bot_transformed = border_points_bot_original;
+    2150        6692 :       std::vector<geometry_msgs::Point> border_points_top_transformed = border_points_bot_original;
+    2151             : 
+    2152             :       // if we fail in transforming the area at some point
+    2153             :       // do not publish it at all
+    2154        3346 :       bool tf_success = true;
+    2155             : 
+    2156        6692 :       geometry_msgs::TransformStamped tf = ret.value();
+    2157             : 
+    2158             :       /* transform area points to local origin //{ */
+    2159             : 
+    2160             :       // transform border bottom points to local origin
+    2161       16730 :       for (size_t i = 0; i < border_points_bot_original.size(); i++) {
+    2162             : 
+    2163       13384 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2164       13384 :         temp_ref.header.stamp         = ros::Time(0);
+    2165       13384 :         temp_ref.reference.position.x = border_points_bot_original[i].x;
+    2166       13384 :         temp_ref.reference.position.y = border_points_bot_original[i].y;
+    2167       13384 :         temp_ref.reference.position.z = border_points_bot_original[i].z;
+    2168             : 
+    2169       26768 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2170             : 
+    2171       13384 :           temp_ref = ret.value();
+    2172             : 
+    2173       13384 :           border_points_bot_transformed[i].x = temp_ref.reference.position.x;
+    2174       13384 :           border_points_bot_transformed[i].y = temp_ref.reference.position.y;
+    2175       13384 :           border_points_bot_transformed[i].z = temp_ref.reference.position.z;
+    2176             : 
+    2177             :         } else {
+    2178           0 :           tf_success = false;
+    2179             :         }
+    2180             :       }
+    2181             : 
+    2182             :       // transform border top points to local origin
+    2183       16730 :       for (size_t i = 0; i < border_points_top_original.size(); i++) {
+    2184             : 
+    2185       13384 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2186       13384 :         temp_ref.header.stamp         = ros::Time(0);
+    2187       13384 :         temp_ref.reference.position.x = border_points_top_original[i].x;
+    2188       13384 :         temp_ref.reference.position.y = border_points_top_original[i].y;
+    2189       13384 :         temp_ref.reference.position.z = border_points_top_original[i].z;
+    2190             : 
+    2191       26768 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2192             : 
+    2193       13384 :           temp_ref = ret.value();
+    2194             : 
+    2195       13384 :           border_points_top_transformed[i].x = temp_ref.reference.position.x;
+    2196       13384 :           border_points_top_transformed[i].y = temp_ref.reference.position.y;
+    2197       13384 :           border_points_top_transformed[i].z = temp_ref.reference.position.z;
+    2198             : 
+    2199             :         } else {
+    2200           0 :           tf_success = false;
+    2201             :         }
+    2202             :       }
+    2203             : 
+    2204             :       //}
+    2205             : 
+    2206        6692 :       visualization_msgs::Marker safety_area_marker;
+    2207             : 
+    2208        3346 :       safety_area_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2209        3346 :       safety_area_marker.type            = visualization_msgs::Marker::LINE_LIST;
+    2210        3346 :       safety_area_marker.color.a         = 0.15;
+    2211        3346 :       safety_area_marker.scale.x         = 0.2;
+    2212        3346 :       safety_area_marker.color.r         = 1;
+    2213        3346 :       safety_area_marker.color.g         = 0;
+    2214        3346 :       safety_area_marker.color.b         = 0;
+    2215             : 
+    2216        3346 :       safety_area_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2217             : 
+    2218        6692 :       visualization_msgs::Marker safety_area_coordinates_marker;
+    2219             : 
+    2220        3346 :       safety_area_coordinates_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2221        3346 :       safety_area_coordinates_marker.type            = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    2222        3346 :       safety_area_coordinates_marker.color.a         = 1;
+    2223        3346 :       safety_area_coordinates_marker.scale.z         = 1.0;
+    2224        3346 :       safety_area_coordinates_marker.color.r         = 0;
+    2225        3346 :       safety_area_coordinates_marker.color.g         = 0;
+    2226        3346 :       safety_area_coordinates_marker.color.b         = 0;
+    2227             : 
+    2228        3346 :       safety_area_coordinates_marker.id = 0;
+    2229             : 
+    2230        3346 :       safety_area_coordinates_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2231             : 
+    2232             :       /* adding safety area points //{ */
+    2233             : 
+    2234             :       // bottom border
+    2235       16730 :       for (size_t i = 0; i < border_points_bot_transformed.size(); i++) {
+    2236             : 
+    2237       13384 :         safety_area_marker.points.push_back(border_points_bot_transformed[i]);
+    2238       13384 :         safety_area_marker.points.push_back(border_points_bot_transformed[(i + 1) % border_points_bot_transformed.size()]);
+    2239             : 
+    2240       26768 :         std::stringstream ss;
+    2241             : 
+    2242       13384 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2243           0 :           ss << "idx: " << i << std::endl
+    2244           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original[i].x << std::endl
+    2245           0 :              << "lon: " << border_points_bot_original[i].y;
+    2246             :         } else {
+    2247       13384 :           ss << "idx: " << i << std::endl
+    2248       13384 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original[i].x << std::endl
+    2249       13384 :              << "y: " << border_points_bot_original[i].y;
+    2250             :         }
+    2251             : 
+    2252       13384 :         safety_area_coordinates_marker.color.r = 0;
+    2253       13384 :         safety_area_coordinates_marker.color.g = 0;
+    2254       13384 :         safety_area_coordinates_marker.color.b = 0;
+    2255             : 
+    2256       13384 :         safety_area_coordinates_marker.pose.position = border_points_bot_transformed[i];
+    2257       13384 :         safety_area_coordinates_marker.text          = ss.str();
+    2258       13384 :         safety_area_coordinates_marker.id++;
+    2259             : 
+    2260       13384 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2261             :       }
+    2262             : 
+    2263             :       // top border + top/bot edges
+    2264       16730 :       for (size_t i = 0; i < border_points_top_transformed.size(); i++) {
+    2265             : 
+    2266       13384 :         safety_area_marker.points.push_back(border_points_top_transformed[i]);
+    2267       13384 :         safety_area_marker.points.push_back(border_points_top_transformed[(i + 1) % border_points_top_transformed.size()]);
+    2268             : 
+    2269       13384 :         safety_area_marker.points.push_back(border_points_bot_transformed[i]);
+    2270       13384 :         safety_area_marker.points.push_back(border_points_top_transformed[i]);
+    2271             : 
+    2272       26768 :         std::stringstream ss;
+    2273             : 
+    2274       13384 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2275           0 :           ss << "idx: " << i << std::endl
+    2276           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original[i].x << std::endl
+    2277           0 :              << "lon: " << border_points_bot_original[i].y;
+    2278             :         } else {
+    2279       13384 :           ss << "idx: " << i << std::endl
+    2280       13384 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original[i].x << std::endl
+    2281       13384 :              << "y: " << border_points_bot_original[i].y;
+    2282             :         }
+    2283             : 
+    2284       13384 :         safety_area_coordinates_marker.color.r = 1;
+    2285       13384 :         safety_area_coordinates_marker.color.g = 1;
+    2286       13384 :         safety_area_coordinates_marker.color.b = 1;
+    2287             : 
+    2288       13384 :         safety_area_coordinates_marker.pose.position = border_points_top_transformed[i];
+    2289       13384 :         safety_area_coordinates_marker.text          = ss.str();
+    2290       13384 :         safety_area_coordinates_marker.id++;
+    2291             : 
+    2292       13384 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2293             :       }
+    2294             : 
+    2295             :       //}
+    2296             : 
+    2297        3346 :       if (tf_success) {
+    2298             : 
+    2299        3346 :         safety_area_marker_array.markers.push_back(safety_area_marker);
+    2300             : 
+    2301        3346 :         ph_safety_area_markers_.publish(safety_area_marker_array);
+    2302             : 
+    2303        3346 :         ph_safety_area_coordinates_markers_.publish(safety_area_coordinates_marker_array);
+    2304             :       }
+    2305             : 
+    2306             :     } else {
+    2307         976 :       ROS_WARN_ONCE("[ControlManager]: missing TFs, can not publish safety area markers");
+    2308             :     }
+    2309             :   }
+    2310             : 
+    2311             :   // --------------------------------------------------------------
+    2312             :   // |              publish the disturbances markers              |
+    2313             :   // --------------------------------------------------------------
+    2314             : 
+    2315        4764 :   if (last_control_output.diagnostics.disturbance_estimator && got_uav_state_) {
+    2316             : 
+    2317        5544 :     visualization_msgs::MarkerArray msg_out;
+    2318             : 
+    2319        2772 :     double id = 0;
+    2320             : 
+    2321        2772 :     double multiplier = 1.0;
+    2322             : 
+    2323        2772 :     Eigen::Quaterniond quat_eigen = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2324             : 
+    2325        2772 :     Eigen::Vector3d      vec3d;
+    2326        2772 :     geometry_msgs::Point point;
+    2327             : 
+    2328             :     /* world disturbance //{ */
+    2329             :     {
+    2330             : 
+    2331        5544 :       visualization_msgs::Marker marker;
+    2332             : 
+    2333        2772 :       marker.header.frame_id = uav_state.header.frame_id;
+    2334        2772 :       marker.header.stamp    = ros::Time::now();
+    2335        2772 :       marker.ns              = "control_manager";
+    2336        2772 :       marker.id              = id++;
+    2337        2772 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2338        2772 :       marker.action          = visualization_msgs::Marker::ADD;
+    2339             : 
+    2340             :       /* position //{ */
+    2341             : 
+    2342        2772 :       marker.pose.position.x = 0.0;
+    2343        2772 :       marker.pose.position.y = 0.0;
+    2344        2772 :       marker.pose.position.z = 0.0;
+    2345             : 
+    2346             :       //}
+    2347             : 
+    2348             :       /* orientation //{ */
+    2349             : 
+    2350        2772 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2351             : 
+    2352             :       //}
+    2353             : 
+    2354             :       /* origin //{ */
+    2355        2772 :       point.x = uav_x;
+    2356        2772 :       point.y = uav_y;
+    2357        2772 :       point.z = uav_z;
+    2358             : 
+    2359        2772 :       marker.points.push_back(point);
+    2360             : 
+    2361             :       //}
+    2362             : 
+    2363             :       /* tip //{ */
+    2364             : 
+    2365        2772 :       point.x = uav_x + multiplier * last_control_output.diagnostics.disturbance_wx_w;
+    2366        2772 :       point.y = uav_y + multiplier * last_control_output.diagnostics.disturbance_wy_w;
+    2367        2772 :       point.z = uav_z;
+    2368             : 
+    2369        2772 :       marker.points.push_back(point);
+    2370             : 
+    2371             :       //}
+    2372             : 
+    2373        2772 :       marker.scale.x = 0.05;
+    2374        2772 :       marker.scale.y = 0.05;
+    2375        2772 :       marker.scale.z = 0.05;
+    2376             : 
+    2377        2772 :       marker.color.a = 0.5;
+    2378        2772 :       marker.color.r = 1.0;
+    2379        2772 :       marker.color.g = 0.0;
+    2380        2772 :       marker.color.b = 0.0;
+    2381             : 
+    2382        2772 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2383             : 
+    2384        2772 :       msg_out.markers.push_back(marker);
+    2385             :     }
+    2386             : 
+    2387             :     //}
+    2388             : 
+    2389             :     /* body disturbance //{ */
+    2390             :     {
+    2391             : 
+    2392        5544 :       visualization_msgs::Marker marker;
+    2393             : 
+    2394        2772 :       marker.header.frame_id = uav_state.header.frame_id;
+    2395        2772 :       marker.header.stamp    = ros::Time::now();
+    2396        2772 :       marker.ns              = "control_manager";
+    2397        2772 :       marker.id              = id++;
+    2398        2772 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2399        2772 :       marker.action          = visualization_msgs::Marker::ADD;
+    2400             : 
+    2401             :       /* position //{ */
+    2402             : 
+    2403        2772 :       marker.pose.position.x = 0.0;
+    2404        2772 :       marker.pose.position.y = 0.0;
+    2405        2772 :       marker.pose.position.z = 0.0;
+    2406             : 
+    2407             :       //}
+    2408             : 
+    2409             :       /* orientation //{ */
+    2410             : 
+    2411        2772 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2412             : 
+    2413             :       //}
+    2414             : 
+    2415             :       /* origin //{ */
+    2416             : 
+    2417        2772 :       point.x = uav_x;
+    2418        2772 :       point.y = uav_y;
+    2419        2772 :       point.z = uav_z;
+    2420             : 
+    2421        2772 :       marker.points.push_back(point);
+    2422             : 
+    2423             :       //}
+    2424             : 
+    2425             :       /* tip //{ */
+    2426             : 
+    2427        2772 :       vec3d << multiplier * last_control_output.diagnostics.disturbance_bx_b, multiplier * last_control_output.diagnostics.disturbance_by_b, 0;
+    2428        2772 :       vec3d = quat_eigen * vec3d;
+    2429             : 
+    2430        2772 :       point.x = uav_x + vec3d[0];
+    2431        2772 :       point.y = uav_y + vec3d[1];
+    2432        2772 :       point.z = uav_z + vec3d[2];
+    2433             : 
+    2434        2772 :       marker.points.push_back(point);
+    2435             : 
+    2436             :       //}
+    2437             : 
+    2438        2772 :       marker.scale.x = 0.05;
+    2439        2772 :       marker.scale.y = 0.05;
+    2440        2772 :       marker.scale.z = 0.05;
+    2441             : 
+    2442        2772 :       marker.color.a = 0.5;
+    2443        2772 :       marker.color.r = 0.0;
+    2444        2772 :       marker.color.g = 1.0;
+    2445        2772 :       marker.color.b = 0.0;
+    2446             : 
+    2447        2772 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2448             : 
+    2449        2772 :       msg_out.markers.push_back(marker);
+    2450             :     }
+    2451             : 
+    2452             :     //}
+    2453             : 
+    2454        2772 :     ph_disturbances_markers_.publish(msg_out);
+    2455             :   }
+    2456             : 
+    2457             :   // --------------------------------------------------------------
+    2458             :   // |               publish the current constraints              |
+    2459             :   // --------------------------------------------------------------
+    2460             : 
+    2461        4764 :   if (got_constraints_) {
+    2462             : 
+    2463        3732 :     auto sanitized_constraints = mrs_lib::get_mutexed(mutex_constraints_, sanitized_constraints_);
+    2464             : 
+    2465        3732 :     mrs_msgs::DynamicsConstraints constraints = sanitized_constraints.constraints;
+    2466             : 
+    2467        3732 :     ph_current_constraints_.publish(constraints);
+    2468             :   }
+    2469             : }
+    2470             : 
+    2471             : //}
+    2472             : 
+    2473             : /* //{ timerSafety() */
+    2474             : 
+    2475       94926 : void ControlManager::timerSafety(const ros::TimerEvent& event) {
+    2476             : 
+    2477       94927 :   mrs_lib::AtomicScopeFlag unset_running(running_safety_timer_);
+    2478             : 
+    2479       94927 :   if (!is_initialized_)
+    2480           0 :     return;
+    2481             : 
+    2482      189855 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerSafety", _safety_timer_rate_, 0.05, event);
+    2483      189855 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerSafety", scope_timer_logger_, scope_timer_enabled_);
+    2484             : 
+    2485             :   // copy member variables
+    2486       94928 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2487       94928 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    2488       94928 :   auto [uav_state, uav_yaw]  = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_, uav_yaw_);
+    2489       94927 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    2490       94927 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2491             : 
+    2492      176978 :   if (!got_uav_state_ || (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) ||
+    2493       82051 :       active_tracker_idx == _null_tracker_idx_) {
+    2494       28577 :     return;
+    2495             :   }
+    2496             : 
+    2497       66350 :   if (odometry_switch_in_progress_) {
+    2498           0 :     ROS_WARN("[ControlManager]: timerSafety tried to run while odometry switch in progress");
+    2499           0 :     return;
+    2500             :   }
+    2501             : 
+    2502             :   // | ------------------------ timeouts ------------------------ |
+    2503             : 
+    2504       66350 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2505       66350 :     double missing_for = (ros::Time::now() - sh_uav_state_.lastMsgTime()).toSec();
+    2506             : 
+    2507       66350 :     if (missing_for > _uav_state_max_missing_time_) {
+    2508           0 :       timeoutUavState(missing_for);
+    2509             :     }
+    2510             :   }
+    2511             : 
+    2512       66350 :   if (_state_input_ == INPUT_ODOMETRY && sh_odometry_.hasMsg()) {
+    2513           0 :     double missing_for = (ros::Time::now() - sh_odometry_.lastMsgTime()).toSec();
+    2514             : 
+    2515           0 :     if (missing_for > _uav_state_max_missing_time_) {
+    2516           0 :       timeoutUavState(missing_for);
+    2517             :     }
+    2518             :   }
+    2519             : 
+    2520             :   // | -------------- eland and failsafe thresholds ------------- |
+    2521             : 
+    2522       66350 :   std::map<std::string, ControllerParams>::iterator it;
+    2523       66350 :   it = controllers_.find(_controller_names_[active_controller_idx]);
+    2524             : 
+    2525       66350 :   _eland_threshold_               = it->second.eland_threshold;
+    2526       66350 :   _failsafe_threshold_            = it->second.failsafe_threshold;
+    2527       66350 :   _odometry_innovation_threshold_ = it->second.odometry_innovation_threshold;
+    2528             : 
+    2529             :   // | --------- calculate control errors and tilt angle -------- |
+    2530             : 
+    2531             :   // This means that the timerFailsafe only does its work when Controllers and Trackers produce valid output.
+    2532             :   // Cases when the commands are not valid should be handle in updateControllers() and updateTrackers() methods.
+    2533       66350 :   if (!last_tracker_cmd || !last_control_output.control_output) {
+    2534          80 :     return;
+    2535             :   }
+    2536             : 
+    2537             :   {
+    2538       66270 :     std::scoped_lock lock(mutex_attitude_error_);
+    2539             : 
+    2540       66270 :     tilt_error_ = 0;
+    2541       66270 :     yaw_error_  = 0;
+    2542             :   }
+    2543             : 
+    2544             :   {
+    2545             :     // TODO this whole scope is very clumsy
+    2546             : 
+    2547       66270 :     position_error_ = {};
+    2548             : 
+    2549       66270 :     if (last_tracker_cmd->use_position_horizontal && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2550             : 
+    2551       65542 :       std::scoped_lock lock(mutex_position_error_);
+    2552             : 
+    2553       65541 :       if (!position_error_) {
+    2554       65538 :         position_error_ = Eigen::Vector3d::Zero(3);
+    2555             :       }
+    2556             : 
+    2557       65541 :       position_error_.value()[0] = last_tracker_cmd->position.x - uav_state.pose.position.x;
+    2558       65541 :       position_error_.value()[1] = last_tracker_cmd->position.y - uav_state.pose.position.y;
+    2559             :     }
+    2560             : 
+    2561       66269 :     if (last_tracker_cmd->use_position_vertical && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2562             : 
+    2563       65540 :       std::scoped_lock lock(mutex_position_error_);
+    2564             : 
+    2565       65540 :       if (!position_error_) {
+    2566           0 :         position_error_ = Eigen::Vector3d::Zero(3);
+    2567             :       }
+    2568             : 
+    2569       65540 :       position_error_.value()[2] = last_tracker_cmd->position.z - uav_state.pose.position.z;
+    2570             :     }
+    2571             :   }
+    2572             : 
+    2573             :   // rotate the drone's z axis
+    2574       66269 :   tf2::Transform uav_state_transform = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2575       66269 :   tf2::Vector3   uav_z_in_world      = uav_state_transform * tf2::Vector3(0, 0, 1);
+    2576             : 
+    2577             :   // calculate the angle between the drone's z axis and the world's z axis
+    2578       66269 :   double tilt_angle = acos(uav_z_in_world.dot(tf2::Vector3(0, 0, 1)));
+    2579             : 
+    2580             :   // | ------------ calculate the tilt and yaw error ------------ |
+    2581             : 
+    2582             :   // | --------------------- the tilt error --------------------- |
+    2583             : 
+    2584       66269 :   if (last_control_output.desired_orientation) {
+    2585             : 
+    2586             :     // calculate the desired drone's z axis in the world frame
+    2587       58577 :     tf2::Transform attitude_cmd_transform = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value());
+    2588       58577 :     tf2::Vector3   uav_z_in_world_desired = attitude_cmd_transform * tf2::Vector3(0, 0, 1);
+    2589             : 
+    2590             :     {
+    2591       58577 :       std::scoped_lock lock(mutex_attitude_error_);
+    2592             : 
+    2593             :       // calculate the angle between the drone's z axis and the world's z axis
+    2594       58577 :       tilt_error_ = acos(uav_z_in_world.dot(uav_z_in_world_desired));
+    2595             : 
+    2596             :       // calculate the yaw error
+    2597       58577 :       double cmd_yaw = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value()).getYaw();
+    2598       58577 :       yaw_error_     = fabs(radians::diff(cmd_yaw, uav_yaw));
+    2599             :     }
+    2600             :   }
+    2601             : 
+    2602       66269 :   auto position_error          = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    2603       66269 :   auto [tilt_error, yaw_error] = mrs_lib::get_mutexed(mutex_attitude_error_, tilt_error_, yaw_error_);
+    2604             : 
+    2605             :   // --------------------------------------------------------------
+    2606             :   // |   activate the failsafe controller in case of large error  |
+    2607             :   // --------------------------------------------------------------
+    2608             : 
+    2609       66269 :   if (position_error) {
+    2610             : 
+    2611       65540 :     if (position_error->norm() > _failsafe_threshold_ && !failsafe_triggered_) {
+    2612             : 
+    2613           1 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2614             : 
+    2615           1 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2616             : 
+    2617           1 :         if (!failsafe_triggered_) {
+    2618             : 
+    2619           1 :           ROS_ERROR("[ControlManager]: activating failsafe land: control_error=%.2f/%.2f m (x: %.2f, y: %.2f, z: %.2f)", position_error->norm(),
+    2620             :                     _failsafe_threshold_, position_error.value()[0], position_error.value()[1], position_error.value()[2]);
+    2621             : 
+    2622           1 :           failsafe();
+    2623             :         }
+    2624             :       }
+    2625             :     }
+    2626             :   }
+    2627             : 
+    2628             :   // --------------------------------------------------------------
+    2629             :   // |     activate emergency land in case of large innovation    |
+    2630             :   // --------------------------------------------------------------
+    2631             : 
+    2632       66269 :   if (_odometry_innovation_check_enabled_) {
+    2633             :     {
+    2634       66269 :       auto [x, y, z] = mrs_lib::getPosition(sh_odometry_innovation_.getMsg());
+    2635             : 
+    2636       66269 :       double heading = 0;
+    2637             :       try {
+    2638       66269 :         heading = mrs_lib::getHeading(sh_odometry_innovation_.getMsg());
+    2639             :       }
+    2640           0 :       catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    2641           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception caught: '%s'", e.what());
+    2642             :       }
+    2643             : 
+    2644       66269 :       double last_innovation = mrs_lib::geometry::dist(vec3_t(x, y, z), vec3_t(0, 0, 0));
+    2645             : 
+    2646       66268 :       if (last_innovation > _odometry_innovation_threshold_ || radians::diff(heading, 0) > M_PI_2) {
+    2647             : 
+    2648          92 :         auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2649             : 
+    2650          92 :         if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2651             : 
+    2652          81 :           if (!failsafe_triggered_ && !eland_triggered_) {
+    2653             : 
+    2654           1 :             ROS_ERROR("[ControlManager]: activating emergency land: odometry innovation too large: %.2f/%.2f (x: %.2f, y: %.2f, z: %.2f, heading: %.2f)",
+    2655             :                       last_innovation, _odometry_innovation_threshold_, x, y, z, heading);
+    2656             : 
+    2657           1 :             eland();
+    2658             :           }
+    2659             :         }
+    2660             :       }
+    2661             :     }
+    2662             :   }
+    2663             : 
+    2664             :   // --------------------------------------------------------------
+    2665             :   // |   activate emergency land in case of medium control error  |
+    2666             :   // --------------------------------------------------------------
+    2667             : 
+    2668             :   // | ------------------- tilt control error ------------------- |
+    2669             : 
+    2670       66268 :   if (_tilt_limit_eland_enabled_ && tilt_angle > _tilt_limit_eland_) {
+    2671             : 
+    2672           0 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2673             : 
+    2674           0 :     if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2675             : 
+    2676           0 :       if (!failsafe_triggered_ && !eland_triggered_) {
+    2677             : 
+    2678           0 :         ROS_ERROR("[ControlManager]: activating emergency land: tilt angle too large (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_angle,
+    2679             :                   (180.0 / M_PI) * _tilt_limit_eland_);
+    2680             : 
+    2681           0 :         eland();
+    2682             :       }
+    2683             :     }
+    2684             :   }
+    2685             : 
+    2686             :   // | ----------------- position control error ----------------- |
+    2687             : 
+    2688       66268 :   if (position_error) {
+    2689             : 
+    2690       65540 :     double error_size = position_error->norm();
+    2691             : 
+    2692       65540 :     if (error_size > _eland_threshold_ / 2.0) {
+    2693             : 
+    2694         322 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2695             : 
+    2696         322 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2697             : 
+    2698         312 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2699             : 
+    2700         242 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload due to large position error");
+    2701             : 
+    2702         242 :           ungripSrv();
+    2703             :         }
+    2704             :       }
+    2705             :     }
+    2706             : 
+    2707       65540 :     if (error_size > _eland_threshold_) {
+    2708             : 
+    2709          78 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2710             : 
+    2711          78 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2712             : 
+    2713          69 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2714             : 
+    2715           1 :           ROS_ERROR("[ControlManager]: activating emergency land: position error %.2f/%.2f m (error x: %.2f, y: %.2f, z: %.2f)", error_size, _eland_threshold_,
+    2716             :                     position_error.value()[0], position_error.value()[1], position_error.value()[2]);
+    2717             : 
+    2718           1 :           eland();
+    2719             :         }
+    2720             :       }
+    2721             :     }
+    2722             :   }
+    2723             : 
+    2724             :   // | -------------------- yaw control error ------------------- |
+    2725             :   // do not have to mutex the yaw_error_ here since I am filling it in this function
+    2726             : 
+    2727       66268 :   if (_yaw_error_eland_enabled_ && yaw_error) {
+    2728             : 
+    2729       66269 :     if (yaw_error.value() > (_yaw_error_eland_ / 2.0)) {
+    2730             : 
+    2731         123 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2732             : 
+    2733         123 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2734             : 
+    2735         123 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2736             : 
+    2737         123 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2738             :                              (180.0 / M_PI) * _yaw_error_eland_ / 2.0);
+    2739             : 
+    2740         123 :           ungripSrv();
+    2741             :         }
+    2742             :       }
+    2743             :     }
+    2744             : 
+    2745       66269 :     if (yaw_error.value() > _yaw_error_eland_) {
+    2746             : 
+    2747           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2748             : 
+    2749           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2750             : 
+    2751           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2752             : 
+    2753           0 :           ROS_ERROR("[ControlManager]: activating emergency land: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2754             :                     (180.0 / M_PI) * _yaw_error_eland_);
+    2755             : 
+    2756           0 :           eland();
+    2757             :         }
+    2758             :       }
+    2759             :     }
+    2760             :   }
+    2761             : 
+    2762             :   // --------------------------------------------------------------
+    2763             :   // |      disarm the drone when the tilt exceeds the limit      |
+    2764             :   // --------------------------------------------------------------
+    2765       66269 :   if (_tilt_limit_disarm_enabled_ && tilt_angle > _tilt_limit_disarm_) {
+    2766             : 
+    2767           0 :     ROS_ERROR("[ControlManager]: tilt angle too large, disarming: tilt angle=%.2f/%.2f deg", (180.0 / M_PI) * tilt_angle, (180.0 / M_PI) * _tilt_limit_disarm_);
+    2768             : 
+    2769           0 :     arming(false);
+    2770             :   }
+    2771             : 
+    2772             :   // --------------------------------------------------------------
+    2773             :   // |     disarm the drone when tilt error exceeds the limit     |
+    2774             :   // --------------------------------------------------------------
+    2775             : 
+    2776       66269 :   if (_tilt_error_disarm_enabled_ && tilt_error) {
+    2777             : 
+    2778       66269 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2779             : 
+    2780             :     // the time from the last controller/tracker switch
+    2781             :     // fyi: we should not
+    2782       66269 :     double time_from_ctrl_tracker_switch = (ros::Time::now() - controller_tracker_switch_time).toSec();
+    2783             : 
+    2784             :     // if the tile error is over the threshold
+    2785             :     // && we are not ramping up during takeoff
+    2786       66269 :     if (fabs(tilt_error.value()) > _tilt_error_disarm_threshold_ && !last_control_output.diagnostics.ramping_up) {
+    2787             : 
+    2788             :       // only account for the error if some time passed from the last tracker/controller switch
+    2789           0 :       if (time_from_ctrl_tracker_switch > 1.0) {
+    2790             : 
+    2791             :         // if the threshold was not exceeded before
+    2792           0 :         if (!tilt_error_disarm_over_thr_) {
+    2793             : 
+    2794           0 :           tilt_error_disarm_over_thr_ = true;
+    2795           0 :           tilt_error_disarm_time_     = ros::Time::now();
+    2796             : 
+    2797           0 :           ROS_WARN("[ControlManager]: tilt error exceeded threshold (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_error.value(),
+    2798             :                    (180.0 / M_PI) * _tilt_error_disarm_threshold_);
+    2799             : 
+    2800             :           // if it was exceeded before, just keep it
+    2801             :         } else {
+    2802             : 
+    2803           0 :           ROS_WARN_THROTTLE(0.1, "[ControlManager]: tilt error (%.2f deg) over threshold for %.2f s", (180.0 / M_PI) * tilt_error.value(),
+    2804             :                             (ros::Time::now() - tilt_error_disarm_time_).toSec());
+    2805             :         }
+    2806             : 
+    2807             :         // if the tile error is bad, but the controller just switched,
+    2808             :         // don't think its bad anymore
+    2809             :       } else {
+    2810             : 
+    2811           0 :         tilt_error_disarm_over_thr_ = false;
+    2812           0 :         tilt_error_disarm_time_     = ros::Time::now();
+    2813             :       }
+    2814             : 
+    2815             :       // if the tilt error is fine
+    2816             :     } else {
+    2817             : 
+    2818             :       // make it fine
+    2819       66269 :       tilt_error_disarm_over_thr_ = false;
+    2820       66269 :       tilt_error_disarm_time_     = ros::Time::now();
+    2821             :     }
+    2822             : 
+    2823             :     // calculate the time over the threshold
+    2824       66268 :     double tot = (ros::Time::now() - tilt_error_disarm_time_).toSec();
+    2825             : 
+    2826             :     // if the tot exceeds the limit (and if we are actually over the threshold)
+    2827       66269 :     if (tilt_error_disarm_over_thr_ && (tot > _tilt_error_disarm_timeout_)) {
+    2828             : 
+    2829           0 :       bool is_flying = offboard_mode_ && active_tracker_idx != _null_tracker_idx_;
+    2830             : 
+    2831             :       // only when flying and not in failsafe
+    2832           0 :       if (is_flying) {
+    2833             : 
+    2834           0 :         ROS_ERROR("[ControlManager]: tilt error too large for %.2f s, disarming", tot);
+    2835             : 
+    2836           0 :         toggleOutput(false);
+    2837           0 :         arming(false);
+    2838             :       }
+    2839             :     }
+    2840             :   }
+    2841             : 
+    2842             :   // | --------- dropping out of OFFBOARD in mid flight --------- |
+    2843             : 
+    2844             :   // if we are not in offboard and the drone is in mid air (NullTracker is not active)
+    2845       66269 :   if (offboard_mode_was_true_ && !offboard_mode_ && active_tracker_idx != _null_tracker_idx_) {
+    2846             : 
+    2847           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: we fell out of OFFBOARD in mid air, disabling output");
+    2848             : 
+    2849           0 :     toggleOutput(false);
+    2850             :   }
+    2851             : }  // namespace control_manager
+    2852             : 
+    2853             : //}
+    2854             : 
+    2855             : /* //{ timerEland() */
+    2856             : 
+    2857         236 : void ControlManager::timerEland(const ros::TimerEvent& event) {
+    2858             : 
+    2859         236 :   if (!is_initialized_)
+    2860           0 :     return;
+    2861             : 
+    2862         472 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerEland", _elanding_timer_rate_, 0.01, event);
+    2863         472 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerEland", scope_timer_logger_, scope_timer_enabled_);
+    2864             : 
+    2865             :   // copy member variables
+    2866         236 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2867             : 
+    2868         236 :   if (!last_control_output.control_output) {
+    2869           0 :     return;
+    2870             :   }
+    2871             : 
+    2872         236 :   auto throttle = extractThrottle(last_control_output);
+    2873             : 
+    2874         236 :   if (!throttle) {
+    2875           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: TODO: implement landing detection mechanism for the current control modality");
+    2876         236 :     return;
+    2877         236 :   }
+    2878           0 : 
+    2879           0 :   if (current_state_landing_ == IDLE_STATE) {
+    2880             : 
+    2881           0 :     return;
+    2882           0 : 
+    2883             :   } else if (current_state_landing_ == LANDING_STATE) {
+    2884             : 
+    2885         236 :     // --------------------------------------------------------------
+    2886             :     // |                            TODO                            |
+    2887           0 :     // This section needs work. The throttle landing detection      |
+    2888             :     // mechanism should be extracted and other mechanisms, such     |
+    2889         236 :     // as velocity-based detection should be used for high          |
+    2890             :     // modalities                                                   |
+    2891         236 :     // --------------------------------------------------------------
+    2892           0 : 
+    2893           0 :     if (!last_control_output.control_output) {
+    2894           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: timerEland: last_control_output has not been initialized, returning");
+    2895             :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: tip: the RC eland is probably triggered");
+    2896             :       return;
+    2897             :     }
+    2898         236 : 
+    2899         236 :     // recalculate the mass based on the throttle
+    2900             :     throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2901             :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2902         236 : 
+    2903          66 :     // condition for automatic motor turn off
+    2904             :     if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_) || throttle < 0.01)) {
+    2905           3 :       if (!throttle_under_threshold_) {
+    2906           3 : 
+    2907             :         throttle_mass_estimate_first_time_ = ros::Time::now();
+    2908             :         throttle_under_threshold_          = true;
+    2909          66 :       }
+    2910             : 
+    2911             :       ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    2912         170 : 
+    2913         170 :     } else {
+    2914             :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2915             :       throttle_under_threshold_          = false;
+    2916         236 :     }
+    2917             : 
+    2918             :     if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    2919           3 :       // enable callbacks? ... NO
+    2920           3 : 
+    2921             :       ROS_INFO("[ControlManager]: reached cutoff throttle, disabling output");
+    2922             :       toggleOutput(false);
+    2923           3 : 
+    2924             :       // disarm the drone
+    2925           3 :       if (_eland_disarm_enabled_) {
+    2926           3 : 
+    2927             :         ROS_INFO("[ControlManager]: calling for disarm");
+    2928             :         arming(false);
+    2929           3 :       }
+    2930             : 
+    2931           3 :       shutdown();
+    2932             : 
+    2933           3 :       changeLandingState(IDLE_STATE);
+    2934             : 
+    2935           3 :       ROS_WARN("[ControlManager]: emergency landing finished");
+    2936           3 : 
+    2937           3 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    2938             :       timer_eland_.stop();
+    2939             :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    2940             : 
+    2941             :       // we should NOT set eland_triggered_=true
+    2942             :     }
+    2943             :   }
+    2944             : }
+    2945             : 
+    2946             : //}
+    2947             : 
+    2948        2412 : /* //{ timerFailsafe() */
+    2949             : 
+    2950        2412 : void ControlManager::timerFailsafe(const ros::TimerEvent& event) {
+    2951         500 : 
+    2952             :   if (!is_initialized_) {
+    2953             :     return;
+    2954        2412 :   }
+    2955             : 
+    2956        4824 :   ROS_INFO_ONCE("[ControlManager]: timerFailsafe() spinning");
+    2957        4824 : 
+    2958             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFailsafe", _failsafe_timer_rate_, 0.01, event);
+    2959             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerFailsafe", scope_timer_logger_, scope_timer_enabled_);
+    2960        2412 : 
+    2961             :   // copy member variables
+    2962        2412 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2963             : 
+    2964        2412 :   updateControllers(uav_state);
+    2965             : 
+    2966        2412 :   publish();
+    2967             : 
+    2968        2412 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2969           0 : 
+    2970           0 :   if (!last_control_output.control_output) {
+    2971             :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: timerFailsafe: the control output produced by the failsafe controller is empty!");
+    2972             :     return;
+    2973        2412 :   }
+    2974             : 
+    2975        2412 :   auto throttle = extractThrottle(last_control_output);
+    2976         500 : 
+    2977         500 :   if (!throttle) {
+    2978             :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: FailsafeTimer: could not extract throttle out of the last control output");
+    2979             :     return;
+    2980        1912 :   }
+    2981        1912 : 
+    2982             :   // --------------------------------------------------------------
+    2983             :   // |                            TODO                            |
+    2984        1912 :   // This section needs work. The throttle landing detection      |
+    2985             :   // mechanism should be extracted and other mechanisms, such     |
+    2986         202 :   // as velocity-based detection should be used for high          |
+    2987             :   // modalities                                                   |
+    2988           1 :   // --------------------------------------------------------------
+    2989           1 : 
+    2990             :   double throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2991             :   ROS_INFO_THROTTLE(1.0, "[ControlManager]: failsafe: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2992         202 : 
+    2993             :   // condition for automatic motor turn off
+    2994             :   if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_))) {
+    2995             : 
+    2996        1710 :     if (!throttle_under_threshold_) {
+    2997        1710 : 
+    2998             :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2999             :       throttle_under_threshold_          = true;
+    3000             :     }
+    3001        1912 : 
+    3002             :     ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    3003           1 : 
+    3004             :   } else {
+    3005           1 : 
+    3006             :     throttle_mass_estimate_first_time_ = ros::Time::now();
+    3007             :     throttle_under_threshold_          = false;
+    3008             :   }
+    3009             : 
+    3010             :   // condition for automatic motor turn off
+    3011             :   if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    3012             : 
+    3013       18999 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: detecting zero throttle, disarming");
+    3014             : 
+    3015       18999 :     arming(false);
+    3016           0 :   }
+    3017             : }
+    3018             : 
+    3019       56997 : //}
+    3020       56997 : 
+    3021             : /* //{ timerJoystick() */
+    3022       37998 : 
+    3023             : void ControlManager::timerJoystick(const ros::TimerEvent& event) {
+    3024             : 
+    3025       18999 :   if (!is_initialized_) {
+    3026             :     return;
+    3027           0 :   }
+    3028             : 
+    3029           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerJoystick", _status_timer_rate_, 0.05, event);
+    3030             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3031             : 
+    3032           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3033             : 
+    3034           0 :   // if start was pressed and held for > 3.0 s
+    3035           0 :   if (joystick_start_pressed_ && joystick_start_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_start_press_time_).toSec() > 3.0) {
+    3036             : 
+    3037             :     joystick_start_press_time_ = ros::Time(0);
+    3038             : 
+    3039       18999 :     ROS_INFO("[ControlManager]: transitioning to joystick control: activating '%s' and '%s'", _joystick_tracker_name_.c_str(),
+    3040             :              _joystick_controller_name_.c_str());
+    3041           0 : 
+    3042             :     joystick_start_pressed_ = false;
+    3043           0 : 
+    3044             :     switchTracker(_joystick_tracker_name_);
+    3045           0 :     switchController(_joystick_controller_name_);
+    3046             :   }
+    3047           0 : 
+    3048             :   // if RT+LT were pressed and held for > 0.1 s
+    3049             :   if (joystick_failsafe_pressed_ && joystick_failsafe_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_failsafe_press_time_).toSec() > 0.1) {
+    3050             : 
+    3051       18999 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3052             : 
+    3053           0 :     ROS_INFO("[ControlManager]: activating failsafe by joystick");
+    3054             : 
+    3055           0 :     joystick_failsafe_pressed_ = false;
+    3056             : 
+    3057           0 :     failsafe();
+    3058             :   }
+    3059           0 : 
+    3060             :   // if joypads were pressed and held for > 0.1 s
+    3061             :   if (joystick_eland_pressed_ && joystick_eland_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_eland_press_time_).toSec() > 0.1) {
+    3062             : 
+    3063       18999 :     joystick_eland_press_time_ = ros::Time(0);
+    3064             : 
+    3065           0 :     ROS_INFO("[ControlManager]: activating eland by joystick");
+    3066             : 
+    3067             :     joystick_failsafe_pressed_ = false;
+    3068           0 : 
+    3069             :     eland();
+    3070           0 :   }
+    3071             : 
+    3072             :   // if back was pressed and held for > 0.1 s
+    3073             :   if (joystick_back_pressed_ && joystick_back_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_back_press_time_).toSec() > 0.1) {
+    3074       18999 : 
+    3075             :     joystick_back_press_time_ = ros::Time(0);
+    3076           0 : 
+    3077             :     // activate/deactivate the joystick goto functionality
+    3078             :     joystick_goto_enabled_ = !joystick_goto_enabled_;
+    3079             : 
+    3080           0 :     ROS_INFO("[ControlManager]: joystick control %s", joystick_goto_enabled_ ? "activated" : "deactivated");
+    3081             :   }
+    3082           0 : 
+    3083           0 :   // if the GOTO functionality is enabled...
+    3084             :   if (joystick_goto_enabled_ && sh_joystick_.hasMsg()) {
+    3085           0 : 
+    3086             :     auto joystick_data = sh_joystick_.getMsg();
+    3087           0 : 
+    3088           0 :     // create the reference
+    3089           0 : 
+    3090           0 :     mrs_msgs::Vec4::Request request;
+    3091             : 
+    3092           0 :     if (fabs(joystick_data->axes[_channel_pitch_]) >= 0.05 || fabs(joystick_data->axes[_channel_roll_]) >= 0.05 ||
+    3093             :         fabs(joystick_data->axes[_channel_heading_]) >= 0.05 || fabs(joystick_data->axes[_channel_throttle_]) >= 0.05) {
+    3094           0 : 
+    3095             :       if (_joystick_mode_ == 0) {
+    3096           0 : 
+    3097             :         request.goal[REF_X]       = _channel_mult_pitch_ * joystick_data->axes[_channel_pitch_] * _joystick_carrot_distance_;
+    3098           0 :         request.goal[REF_Y]       = _channel_mult_roll_ * joystick_data->axes[_channel_roll_] * _joystick_carrot_distance_;
+    3099             :         request.goal[REF_Z]       = _channel_mult_throttle_ * joystick_data->axes[_channel_throttle_];
+    3100           0 :         request.goal[REF_HEADING] = _channel_mult_heading_ * joystick_data->axes[_channel_heading_];
+    3101             : 
+    3102           0 :         mrs_msgs::Vec4::Response response;
+    3103           0 : 
+    3104           0 :         callbackGotoFcu(request, response);
+    3105           0 : 
+    3106             :       } else if (_joystick_mode_ == 1) {
+    3107           0 : 
+    3108           0 :         mrs_msgs::TrajectoryReference trajectory;
+    3109           0 : 
+    3110           0 :         double dt = 0.2;
+    3111           0 : 
+    3112             :         trajectory.fly_now         = true;
+    3113           0 :         trajectory.header.frame_id = "fcu_untilted";
+    3114             :         trajectory.use_heading     = true;
+    3115           0 :         trajectory.dt              = dt;
+    3116             : 
+    3117           0 :         mrs_msgs::Reference point;
+    3118             :         point.position.x = 0;
+    3119           0 :         point.position.y = 0;
+    3120           0 :         point.position.z = 0;
+    3121           0 :         point.heading    = 0;
+    3122           0 : 
+    3123             :         trajectory.points.push_back(point);
+    3124           0 : 
+    3125             :         double speed = 1.0;
+    3126             : 
+    3127           0 :         for (int i = 0; i < 50; i++) {
+    3128             : 
+    3129             :           point.position.x += _channel_mult_pitch_ * joystick_data->axes[_channel_pitch_] * (speed * dt);
+    3130             :           point.position.y += _channel_mult_roll_ * joystick_data->axes[_channel_roll_] * (speed * dt);
+    3131             :           point.position.z += _channel_mult_throttle_ * joystick_data->axes[_channel_throttle_] * (speed * dt);
+    3132       18999 :           point.heading = _channel_mult_heading_ * joystick_data->axes[_channel_heading_];
+    3133             : 
+    3134             :           trajectory.points.push_back(point);
+    3135           0 :         }
+    3136             : 
+    3137           0 :         setTrajectoryReference(trajectory);
+    3138           0 :       }
+    3139           0 :     }
+    3140           0 :   }
+    3141             : 
+    3142           0 :   if (rc_goto_active_ && last_tracker_cmd && sh_hw_api_rc_.hasMsg()) {
+    3143             : 
+    3144             :     // create the reference
+    3145           0 :     mrs_msgs::VelocityReferenceStampedSrv::Request request;
+    3146             : 
+    3147           0 :     double des_x       = 0;
+    3148             :     double des_y       = 0;
+    3149           0 :     double des_z       = 0;
+    3150             :     double des_heading = 0;
+    3151           0 : 
+    3152             :     bool nothing_to_do = true;
+    3153             : 
+    3154             :     // copy member variables
+    3155           0 :     mrs_msgs::HwApiRcChannelsConstPtr rc_channels = sh_hw_api_rc_.getMsg();
+    3156           0 : 
+    3157           0 :     if (rc_channels->channels.size() < 4) {
+    3158           0 : 
+    3159             :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC control channel numbers are out of range (the # of channels in rc/in topic is %d)",
+    3160           0 :                          int(rc_channels->channels.size()));
+    3161           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: tip: this could be caused by the RC failsafe not being configured!");
+    3162           0 : 
+    3163             :     } else {
+    3164             : 
+    3165           0 :       double tmp_x       = RCChannelToRange(rc_channels->channels[_rc_channel_pitch_], _rc_horizontal_speed_, 0.1);
+    3166           0 :       double tmp_y       = -RCChannelToRange(rc_channels->channels[_rc_channel_roll_], _rc_horizontal_speed_, 0.1);
+    3167           0 :       double tmp_z       = RCChannelToRange(rc_channels->channels[_rc_channel_throttle_], _rc_vertical_speed_, 0.3);
+    3168             :       double tmp_heading = -RCChannelToRange(rc_channels->channels[_rc_channel_heading_], _rc_heading_rate_, 0.1);
+    3169             : 
+    3170           0 :       if (abs(tmp_x) > 1e-3) {
+    3171           0 :         des_x         = tmp_x;
+    3172           0 :         nothing_to_do = false;
+    3173             :       }
+    3174             : 
+    3175           0 :       if (abs(tmp_y) > 1e-3) {
+    3176           0 :         des_y         = tmp_y;
+    3177           0 :         nothing_to_do = false;
+    3178             :       }
+    3179             : 
+    3180             :       if (abs(tmp_z) > 1e-3) {
+    3181           0 :         des_z         = tmp_z;
+    3182             :         nothing_to_do = false;
+    3183           0 :       }
+    3184             : 
+    3185           0 :       if (abs(tmp_heading) > 1e-3) {
+    3186             :         des_heading   = tmp_heading;
+    3187           0 :         nothing_to_do = false;
+    3188           0 :       }
+    3189           0 :     }
+    3190           0 : 
+    3191             :     if (!nothing_to_do) {
+    3192           0 : 
+    3193             :       request.reference.header.frame_id = "fcu_untilted";
+    3194             : 
+    3195           0 :       request.reference.reference.use_heading_rate = true;
+    3196             : 
+    3197             :       request.reference.reference.velocity.x   = des_x;
+    3198           0 :       request.reference.reference.velocity.y   = des_y;
+    3199             :       request.reference.reference.velocity.z   = des_z;
+    3200           0 :       request.reference.reference.heading_rate = des_heading;
+    3201             : 
+    3202           0 :       mrs_msgs::VelocityReferenceStampedSrv::Response response;
+    3203           0 : 
+    3204             :       // disable callbacks of all trackers
+    3205             :       std_srvs::SetBoolRequest req_enable_callbacks;
+    3206           0 : 
+    3207             :       // enable the callbacks for the active tracker
+    3208           0 :       req_enable_callbacks.data = true;
+    3209             :       {
+    3210           0 :         std::scoped_lock lock(mutex_tracker_list_);
+    3211             : 
+    3212           0 :         tracker_list_[active_tracker_idx_]->enableCallbacks(
+    3213             :             std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3214             :       }
+    3215           0 : 
+    3216             :       callbacks_enabled_ = true;
+    3217           0 : 
+    3218             :       callbackVelocityReferenceService(request, response);
+    3219           0 : 
+    3220           0 :       callbacks_enabled_ = false;
+    3221             : 
+    3222             :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: goto by RC with speed x=%.2f, y=%.2f, z=%.2f, heading_rate=%.2f", des_x, des_y, des_z, des_heading);
+    3223             : 
+    3224             :       // disable the callbacks back again
+    3225             :       req_enable_callbacks.data = false;
+    3226             :       {
+    3227             :         std::scoped_lock lock(mutex_tracker_list_);
+    3228             : 
+    3229             :         tracker_list_[active_tracker_idx_]->enableCallbacks(
+    3230           0 :             std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3231             :       }
+    3232           0 :     }
+    3233           0 :   }
+    3234             : }
+    3235           0 : 
+    3236           0 : //}
+    3237             : 
+    3238           0 : /* //{ timerBumper() */
+    3239           0 : 
+    3240             : void ControlManager::timerBumper(const ros::TimerEvent& event) {
+    3241             : 
+    3242           0 :   if (!is_initialized_)
+    3243           0 :     return;
+    3244             : 
+    3245             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerBumper", _bumper_timer_rate_, 0.05, event);
+    3246           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerBumper", scope_timer_logger_, scope_timer_enabled_);
+    3247           0 : 
+    3248             :   if (!bumper_enabled_) {
+    3249             :     return;
+    3250           0 :   }
+    3251           0 : 
+    3252             :   if (!isFlyingNormally()) {
+    3253             :     return;
+    3254             :   }
+    3255             : 
+    3256             :   if (!got_uav_state_) {
+    3257             :     return;
+    3258           0 :   }
+    3259             : 
+    3260             :   if ((ros::Time::now() - sh_bumper_.lastMsgTime()).toSec() > 1.0) {
+    3261             :     return;
+    3262             :   }
+    3263             : 
+    3264             :   // --------------------------------------------------------------
+    3265           0 :   // |                      bumper repulsion                      |
+    3266             :   // --------------------------------------------------------------
+    3267           0 : 
+    3268           0 :   bumperPushFromObstacle();
+    3269             : }
+    3270           0 : 
+    3271           0 : //}
+    3272             : 
+    3273           0 : /* //{ timerPirouette() */
+    3274             : 
+    3275           0 : void ControlManager::timerPirouette(const ros::TimerEvent& event) {
+    3276           0 : 
+    3277           0 :   if (!is_initialized_)
+    3278             :     return;
+    3279           0 : 
+    3280             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerPirouette", _pirouette_timer_rate_, 0.01, event);
+    3281           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerPirouette", scope_timer_logger_, scope_timer_enabled_);
+    3282           0 : 
+    3283             :   pirouette_iterator_++;
+    3284           0 : 
+    3285             :   double pirouette_duration  = (2 * M_PI) / _pirouette_speed_;
+    3286           0 :   double pirouette_n_steps   = pirouette_duration * _pirouette_timer_rate_;
+    3287             :   double pirouette_step_size = (2 * M_PI) / pirouette_n_steps;
+    3288             : 
+    3289             :   if (rc_escalating_failsafe_triggered_ || failsafe_triggered_ || eland_triggered_ || (pirouette_iterator_ > pirouette_duration * _pirouette_timer_rate_)) {
+    3290           0 : 
+    3291             :     _pirouette_enabled_ = false;
+    3292           0 :     timer_pirouette_.stop();
+    3293             : 
+    3294           0 :     setCallbacks(true);
+    3295           0 : 
+    3296           0 :     return;
+    3297           0 :   }
+    3298           0 : 
+    3299           0 :   // set the reference
+    3300             :   mrs_msgs::ReferenceStamped reference_request;
+    3301             : 
+    3302             :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3303           0 : 
+    3304             :   reference_request.header.frame_id      = "";
+    3305           0 :   reference_request.header.stamp         = ros::Time(0);
+    3306           0 :   reference_request.reference.position.x = last_tracker_cmd->position.x;
+    3307             :   reference_request.reference.position.y = last_tracker_cmd->position.y;
+    3308           0 :   reference_request.reference.position.z = last_tracker_cmd->position.z;
+    3309             :   reference_request.reference.heading    = pirouette_initial_heading_ + pirouette_iterator_ * pirouette_step_size;
+    3310           0 : 
+    3311             :   // enable the callbacks for the active tracker
+    3312             :   {
+    3313           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3314             : 
+    3315             :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3316           0 :     req_enable_callbacks.data = true;
+    3317             : 
+    3318             :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3319           0 : 
+    3320           0 :     callbacks_enabled_ = true;
+    3321             :   }
+    3322           0 : 
+    3323             :   setReference(reference_request);
+    3324           0 : 
+    3325             :   {
+    3326             :     std::scoped_lock lock(mutex_tracker_list_);
+    3327             : 
+    3328             :     // disable the callbacks for the active tracker
+    3329             :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3330             :     req_enable_callbacks.data = false;
+    3331             : 
+    3332             :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3333             : 
+    3334             :     callbacks_enabled_ = false;
+    3335             :   }
+    3336       40520 : }
+    3337             : 
+    3338       40520 : //}
+    3339           0 : 
+    3340             : // --------------------------------------------------------------
+    3341       81040 : // |                           asyncs                           |
+    3342             : // --------------------------------------------------------------
+    3343      121560 : 
+    3344      121560 : /* asyncControl() //{ */
+    3345             : 
+    3346             : void ControlManager::asyncControl(void) {
+    3347       81040 : 
+    3348       40520 :   if (!is_initialized_)
+    3349             :     return;
+    3350       40520 : 
+    3351             :   mrs_lib::AtomicScopeFlag unset_running(running_async_control_);
+    3352             : 
+    3353             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("asyncControl");
+    3354       38175 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::asyncControl", scope_timer_logger_, scope_timer_enabled_);
+    3355             : 
+    3356         340 :   // copy member variables
+    3357         340 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3358         340 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    3359             : 
+    3360         340 :   if (!failsafe_triggered_) {  // when failsafe is triggered, updateControllers() and publish() is called in timerFailsafe()
+    3361         332 : 
+    3362         332 :     // run the safety timer
+    3363             :     // in the case of large control errors, the safety mechanisms will be triggered before the controllers and trackers are updated...
+    3364             :     while (running_safety_timer_) {
+    3365             : 
+    3366       38167 :       ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3367       38167 :       ros::Duration wait(0.001);
+    3368             :       wait.sleep();
+    3369       38166 : 
+    3370             :       if (!running_safety_timer_) {
+    3371       38166 :         ROS_DEBUG("[ControlManager]: safety timer finished");
+    3372             :         break;
+    3373       38166 :       }
+    3374             :     }
+    3375             : 
+    3376       37835 :     ros::TimerEvent safety_timer_event;
+    3377             :     timerSafety(safety_timer_event);
+    3378       37835 : 
+    3379             :     updateTrackers();
+    3380          27 : 
+    3381          27 :     updateControllers(uav_state);
+    3382             : 
+    3383          27 :     if (got_constraints_) {
+    3384             : 
+    3385          27 :       // update the constraints to trackers, if need to
+    3386             :       auto enforce = enforceControllersConstraints(current_constraints);
+    3387          27 : 
+    3388             :       if (enforce && !constraints_being_enforced_) {
+    3389             : 
+    3390       37808 :         setConstraintsToTrackers(enforce.value());
+    3391             :         mrs_lib::set_mutexed(mutex_constraints_, enforce.value(), sanitized_constraints_);
+    3392          26 : 
+    3393             :         constraints_being_enforced_ = true;
+    3394          26 : 
+    3395             :         auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3396          26 : 
+    3397             :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' is enforcing constraints over the ConstraintManager",
+    3398          26 :                           _controller_names_[active_controller_idx].c_str());
+    3399             : 
+    3400             :       } else if (!enforce && constraints_being_enforced_) {
+    3401             : 
+    3402       38166 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: constraint values returned to original values");
+    3403             : 
+    3404             :         constraints_being_enforced_ = false;
+    3405             : 
+    3406       40519 :         mrs_lib::set_mutexed(mutex_constraints_, current_constraints, sanitized_constraints_);
+    3407             : 
+    3408           0 :         setConstraintsToTrackers(current_constraints);
+    3409           0 :       }
+    3410           0 :     }
+    3411           0 : 
+    3412             :     publish();
+    3413             :   }
+    3414           0 : 
+    3415             :   // if odometry switch happened, we finish it here and turn the safety timer back on
+    3416           0 :   if (odometry_switch_in_progress_) {
+    3417             : 
+    3418             :     ROS_DEBUG("[ControlManager]: starting safety timer");
+    3419             :     timer_safety_.start();
+    3420             :     ROS_DEBUG("[ControlManager]: safety timer started");
+    3421             :     odometry_switch_in_progress_ = false;
+    3422             : 
+    3423             :     {
+    3424             :       std::scoped_lock lock(mutex_uav_state_);
+    3425             : 
+    3426             :       ROS_INFO("[ControlManager]: odometry after switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state.pose.position.x, uav_state.pose.position.y,
+    3427             :                uav_state.pose.position.z, uav_heading_);
+    3428             :     }
+    3429             :   }
+    3430             : }
+    3431             : 
+    3432           0 : //}
+    3433             : 
+    3434           0 : // --------------------------------------------------------------
+    3435           0 : // |                          callbacks                         |
+    3436             : // --------------------------------------------------------------
+    3437           0 : 
+    3438           0 : // | --------------------- topic callbacks -------------------- |
+    3439             : 
+    3440           0 : /* //{ callbackOdometry() */
+    3441             : 
+    3442             : void ControlManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    3443             : 
+    3444             :   if (!is_initialized_)
+    3445           0 :     return;
+    3446             : 
+    3447           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackOdometry");
+    3448           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackOdometry", scope_timer_logger_, scope_timer_enabled_);
+    3449             : 
+    3450             :   nav_msgs::OdometryConstPtr odom = msg;
+    3451             : 
+    3452             :   // | ------------------ check for time stamp ------------------ |
+    3453             : 
+    3454           0 :   {
+    3455           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3456           0 : 
+    3457             :     if (uav_state_.header.stamp == odom->header.stamp) {
+    3458             :       return;
+    3459             :     }
+    3460             :   }
+    3461             : 
+    3462             :   // | --------------------- check for nans --------------------- |
+    3463             : 
+    3464             :   if (!validateOdometry(*odom, "ControlManager", "odometry")) {
+    3465           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'odometry' contains invalid values, throwing it away");
+    3466             :     return;
+    3467           0 :   }
+    3468           0 : 
+    3469           0 :   // | ---------------------- frame switch ---------------------- |
+    3470             : 
+    3471             :   /* Odometry frame switch //{ */
+    3472             : 
+    3473           0 :   // | -- prepare an OdometryConstPtr for trackers & controllers -- |
+    3474             : 
+    3475           0 :   mrs_msgs::UavState uav_state_odom;
+    3476             : 
+    3477           0 :   uav_state_odom.header   = odom->header;
+    3478             :   uav_state_odom.pose     = odom->pose.pose;
+    3479           0 :   uav_state_odom.velocity = odom->twist.twist;
+    3480             : 
+    3481           0 :   // | ----- check for change in odometry frame of reference ---- |
+    3482             : 
+    3483             :   if (got_uav_state_) {
+    3484             : 
+    3485           0 :     if (odom->header.frame_id != uav_state_.header.frame_id) {
+    3486             : 
+    3487             :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3488           0 :       {
+    3489           0 :         std::scoped_lock lock(mutex_uav_state_);
+    3490           0 : 
+    3491             :         ROS_INFO("[ControlManager]: odometry before switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state_.pose.position.x, uav_state_.pose.position.y,
+    3492             :                  uav_state_.pose.position.z, uav_heading_);
+    3493           0 :       }
+    3494             : 
+    3495           0 :       odometry_switch_in_progress_ = true;
+    3496           0 : 
+    3497           0 :       // we have to stop safety timer, otherwise it will interfere
+    3498             :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3499           0 :       timer_safety_.stop();
+    3500           0 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3501           0 : 
+    3502             :       // wait for the safety timer to stop if its running
+    3503             :       while (running_safety_timer_) {
+    3504             : 
+    3505             :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3506           0 :         ros::Duration wait(0.001);
+    3507             :         wait.sleep();
+    3508           0 : 
+    3509           0 :         if (!running_safety_timer_) {
+    3510           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3511             :           break;
+    3512           0 :         }
+    3513           0 :       }
+    3514           0 : 
+    3515             :       // we have to also for the oneshot control timer to finish
+    3516             :       while (running_async_control_) {
+    3517             : 
+    3518             :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3519           0 :         ros::Duration wait(0.001);
+    3520             :         wait.sleep();
+    3521           0 : 
+    3522           0 :         if (!running_async_control_) {
+    3523             :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3524             :           break;
+    3525             :         }
+    3526             :       }
+    3527             : 
+    3528             :       {
+    3529             :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3530             : 
+    3531             :         tracker_list_[active_tracker_idx_]->switchOdometrySource(uav_state_odom);
+    3532           0 :         controller_list_[active_controller_idx_]->switchOdometrySource(uav_state_odom);
+    3533             :       }
+    3534           0 :     }
+    3535             :   }
+    3536           0 : 
+    3537             :   //}
+    3538           0 : 
+    3539           0 :   // | ----------- copy the odometry to the uav_state ----------- |
+    3540           0 : 
+    3541             :   {
+    3542             :     std::scoped_lock lock(mutex_uav_state_);
+    3543             : 
+    3544             :     previous_uav_state_ = uav_state_;
+    3545           0 : 
+    3546           0 :     uav_state_ = mrs_msgs::UavState();
+    3547           0 : 
+    3548           0 :     uav_state_.header           = odom->header;
+    3549           0 :     uav_state_.pose             = odom->pose.pose;
+    3550           0 :     uav_state_.velocity.angular = odom->twist.twist.angular;
+    3551             : 
+    3552           0 :     // transform the twist into the header's frame
+    3553             :     {
+    3554           0 :       // the velocity from the odometry
+    3555           0 :       geometry_msgs::Vector3Stamped speed_child_frame;
+    3556           0 :       speed_child_frame.header.frame_id = odom->child_frame_id;
+    3557           0 :       speed_child_frame.header.stamp    = odom->header.stamp;
+    3558             :       speed_child_frame.vector.x        = odom->twist.twist.linear.x;
+    3559           0 :       speed_child_frame.vector.y        = odom->twist.twist.linear.y;
+    3560             :       speed_child_frame.vector.z        = odom->twist.twist.linear.z;
+    3561           0 : 
+    3562             :       auto res = transformer_->transformSingle(speed_child_frame, odom->header.frame_id);
+    3563             : 
+    3564             :       if (res) {
+    3565             :         uav_state_.velocity.linear.x = res.value().vector.x;
+    3566           0 :         uav_state_.velocity.linear.y = res.value().vector.y;
+    3567             :         uav_state_.velocity.linear.z = res.value().vector.z;
+    3568             :       } else {
+    3569           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the odometry speed from '%s' to '%s'", odom->child_frame_id.c_str(),
+    3570             :                            odom->header.frame_id.c_str());
+    3571           0 :         return;
+    3572           0 :       }
+    3573             :     }
+    3574             : 
+    3575           0 :     // calculate the euler angles
+    3576             :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(odom->pose.pose.orientation);
+    3577           0 : 
+    3578             :     try {
+    3579             :       uav_heading_ = mrs_lib::AttitudeConverter(odom->pose.pose.orientation).getHeading();
+    3580             :     }
+    3581             :     catch (...) {
+    3582           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading");
+    3583             :     }
+    3584           0 : 
+    3585             :     transformer_->setDefaultFrame(odom->header.frame_id);
+    3586           0 : 
+    3587             :     got_uav_state_ = true;
+    3588             :   }
+    3589             : 
+    3590             :   // run the control loop asynchronously in an OneShotTimer
+    3591             :   // but only if its not already running
+    3592             :   if (!running_async_control_) {
+    3593             : 
+    3594       46761 :     running_async_control_ = true;
+    3595             : 
+    3596       46761 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3597        3209 :   }
+    3598             : }
+    3599       93522 : 
+    3600       93522 : //}
+    3601             : 
+    3602       46761 : /* //{ callbackUavState() */
+    3603             : 
+    3604             : void ControlManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    3605             : 
+    3606             :   if (!is_initialized_)
+    3607       46761 :     return;
+    3608             : 
+    3609       46761 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackUavState");
+    3610        3209 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackUavState", scope_timer_logger_, scope_timer_enabled_);
+    3611             : 
+    3612             :   mrs_msgs::UavStateConstPtr uav_state = msg;
+    3613             : 
+    3614             :   // | ------------------ check for time stamp ------------------ |
+    3615             : 
+    3616       43552 :   {
+    3617           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3618           0 : 
+    3619             :     if (uav_state_.header.stamp == uav_state->header.stamp) {
+    3620             :       return;
+    3621             :     }
+    3622             :   }
+    3623             : 
+    3624             :   // | --------------------- check for nans --------------------- |
+    3625       43552 : 
+    3626       43552 :   if (!validateUavState(*uav_state, "ControlManager", "uav_state")) {
+    3627       43552 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'uav_state' contains invalid values, throwing it away");
+    3628             :     return;
+    3629       43552 :   }
+    3630             : 
+    3631             :   // | -------------------- check for hiccups ------------------- |
+    3632       43552 : 
+    3633             :   /* hickup detection //{ */
+    3634       43458 : 
+    3635             :   double alpha               = 0.99;
+    3636       43458 :   double alpha2              = 0.666;
+    3637       33769 :   double uav_state_count_lim = 1000;
+    3638             : 
+    3639             :   double uav_state_dt = (ros::Time::now() - previous_uav_state_.header.stamp).toSec();
+    3640             : 
+    3641       43552 :   // belive only reasonable numbers
+    3642             :   if (uav_state_dt <= 1.0) {
+    3643             : 
+    3644             :     uav_state_avg_dt_ = alpha * uav_state_avg_dt_ + (1 - alpha) * uav_state_dt;
+    3645        9709 : 
+    3646             :     if (uav_state_count_ < uav_state_count_lim) {
+    3647        5995 :       uav_state_count_++;
+    3648             :     }
+    3649        3714 :   }
+    3650             : 
+    3651        3714 :   if (uav_state_count_ == uav_state_count_lim) {
+    3652             : 
+    3653             :     /* ROS_INFO_STREAM("[ControlManager]: uav_state_dt = " << uav_state_dt); */
+    3654        9709 : 
+    3655             :     if (uav_state_dt < uav_state_avg_dt_ && uav_state_dt > 0.0001) {
+    3656             : 
+    3657             :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_avg_dt_ / uav_state_dt);
+    3658           0 : 
+    3659           0 :     } else if (uav_state_avg_dt_ > 0.0001) {
+    3660           0 : 
+    3661           0 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_dt / uav_state_avg_dt_);
+    3662           0 :     }
+    3663           0 : 
+    3664           0 :     if (uav_state_hiccup_factor_ > 3.141592653) {
+    3665           0 : 
+    3666           0 :       /* ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: hiccup factor = " << uav_state_hiccup_factor_); */
+    3667           0 : 
+    3668             :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3669             :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3670             :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3671             :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |            UAV_STATE has a large hiccup factor!            |");
+    3672             :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           hint, hint: you are probably rosbagging          |");
+    3673             :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           lot of data or publishing lot of large           |");
+    3674             :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |          messages without mutual nodelet managers.         |");
+    3675             :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3676             :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3677             :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3678             :     }
+    3679       43552 :   }
+    3680             : 
+    3681       43505 :   //}
+    3682             : 
+    3683           0 :   // | ---------------------- frame switch ---------------------- |
+    3684             : 
+    3685           0 :   /* frame switch //{ */
+    3686             : 
+    3687           0 :   // | ----- check for change in odometry frame of reference ---- |
+    3688             : 
+    3689             :   if (got_uav_state_) {
+    3690             : 
+    3691           0 :     if (uav_state->estimator_iteration != uav_state_.estimator_iteration) {
+    3692             : 
+    3693             :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3694           0 :       {
+    3695           0 :         std::scoped_lock lock(mutex_uav_state_);
+    3696           0 : 
+    3697             :         ROS_INFO("[ControlManager]: odometry before switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state_.pose.position.x, uav_state_.pose.position.y,
+    3698             :                  uav_state_.pose.position.z, uav_heading_);
+    3699           0 :       }
+    3700             : 
+    3701           0 :       odometry_switch_in_progress_ = true;
+    3702           0 : 
+    3703           0 :       // we have to stop safety timer, otherwise it will interfere
+    3704             :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3705           0 :       timer_safety_.stop();
+    3706           0 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3707           0 : 
+    3708             :       // wait for the safety timer to stop if its running
+    3709             :       while (running_safety_timer_) {
+    3710             : 
+    3711             :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3712           0 :         ros::Duration wait(0.001);
+    3713             :         wait.sleep();
+    3714           0 : 
+    3715           0 :         if (!running_safety_timer_) {
+    3716           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3717             :           break;
+    3718           0 :         }
+    3719           0 :       }
+    3720           0 : 
+    3721             :       // we have to also for the oneshot control timer to finish
+    3722             :       while (running_async_control_) {
+    3723             : 
+    3724             :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3725           0 :         ros::Duration wait(0.001);
+    3726             :         wait.sleep();
+    3727           0 : 
+    3728           0 :         if (!running_async_control_) {
+    3729             :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3730             :           break;
+    3731             :         }
+    3732             :       }
+    3733             : 
+    3734             :       {
+    3735             :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3736             : 
+    3737             :         tracker_list_[active_tracker_idx_]->switchOdometrySource(*uav_state);
+    3738             :         controller_list_[active_controller_idx_]->switchOdometrySource(*uav_state);
+    3739             :       }
+    3740       43552 :     }
+    3741             :   }
+    3742       43552 : 
+    3743             :   //}
+    3744       43552 : 
+    3745             :   // --------------------------------------------------------------
+    3746       43552 :   // |           copy the UavState message for later use          |
+    3747             :   // --------------------------------------------------------------
+    3748             : 
+    3749       43552 :   {
+    3750             :     std::scoped_lock lock(mutex_uav_state_);
+    3751           0 : 
+    3752           0 :     previous_uav_state_ = uav_state_;
+    3753             : 
+    3754             :     uav_state_ = *uav_state;
+    3755       43552 : 
+    3756             :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(uav_state_.pose.orientation);
+    3757       43552 : 
+    3758             :     try {
+    3759             :       uav_heading_ = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+    3760             :     }
+    3761             :     catch (...) {
+    3762       43552 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading, not updating it");
+    3763             :     }
+    3764       40520 : 
+    3765             :     transformer_->setDefaultFrame(uav_state->header.frame_id);
+    3766       40520 : 
+    3767             :     got_uav_state_ = true;
+    3768             :   }
+    3769             : 
+    3770             :   // run the control loop asynchronously in an OneShotTimer
+    3771             :   // but only if its not already running
+    3772             :   if (!running_async_control_) {
+    3773             : 
+    3774       30863 :     running_async_control_ = true;
+    3775             : 
+    3776       30863 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3777          65 :   }
+    3778             : }
+    3779       92394 : 
+    3780       92394 : //}
+    3781             : 
+    3782       30798 : /* //{ callbackGNSS() */
+    3783             : 
+    3784             : void ControlManager::callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    3785             : 
+    3786             :   if (!is_initialized_)
+    3787             :     return;
+    3788             : 
+    3789           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGNSS");
+    3790             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGNSS", scope_timer_logger_, scope_timer_enabled_);
+    3791           0 : 
+    3792           0 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    3793             : }
+    3794           0 : 
+    3795           0 : //}
+    3796             : 
+    3797             : /* callbackJoystick() //{ */
+    3798           0 : 
+    3799           0 : void ControlManager::callbackJoystick(const sensor_msgs::Joy::ConstPtr msg) {
+    3800             : 
+    3801           0 :   if (!is_initialized_)
+    3802             :     return;
+    3803             : 
+    3804           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackJoystick");
+    3805           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3806             : 
+    3807             :   // copy member variables
+    3808             :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    3809             :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3810             : 
+    3811           0 :   sensor_msgs::JoyConstPtr joystick_data = msg;
+    3812           0 : 
+    3813           0 :   // TODO check if the array is smaller than the largest idx
+    3814             :   if (joystick_data->buttons.size() == 0 || joystick_data->axes.size() == 0) {
+    3815           0 :     return;
+    3816             :   }
+    3817           0 : 
+    3818           0 :   // | ---- switching back to fallback tracker and controller --- |
+    3819             : 
+    3820           0 :   // if any of the A, B, X, Y buttons are pressed when flying with joystick, switch back to fallback controller and tracker
+    3821             :   if ((joystick_data->buttons[_channel_A_] == 1 || joystick_data->buttons[_channel_B_] == 1 || joystick_data->buttons[_channel_X_] == 1 ||
+    3822             :        joystick_data->buttons[_channel_Y_] == 1) &&
+    3823             :       active_tracker_idx == _joystick_tracker_idx_ && active_controller_idx == _joystick_controller_idx_) {
+    3824             : 
+    3825             :     ROS_INFO("[ControlManager]: switching from joystick to normal control");
+    3826           0 : 
+    3827             :     switchTracker(_joystick_fallback_tracker_name_);
+    3828           0 :     switchController(_joystick_fallback_controller_name_);
+    3829             : 
+    3830           0 :     joystick_goto_enabled_ = false;
+    3831             :   }
+    3832           0 : 
+    3833           0 :   // | ------- joystick control activation ------- |
+    3834             : 
+    3835             :   // if start button was pressed
+    3836           0 :   if (joystick_data->buttons[_channel_start_] == 1) {
+    3837             : 
+    3838           0 :     if (!joystick_start_pressed_) {
+    3839             : 
+    3840           0 :       ROS_INFO("[ControlManager]: joystick start button pressed");
+    3841           0 : 
+    3842             :       joystick_start_pressed_    = true;
+    3843             :       joystick_start_press_time_ = ros::Time::now();
+    3844             :     }
+    3845             : 
+    3846             :   } else if (joystick_start_pressed_) {
+    3847           0 : 
+    3848             :     ROS_INFO("[ControlManager]: joystick start button released");
+    3849           0 : 
+    3850             :     joystick_start_pressed_    = false;
+    3851           0 :     joystick_start_press_time_ = ros::Time(0);
+    3852             :   }
+    3853           0 : 
+    3854           0 :   // | ---------------- Joystick goto activation ---------------- |
+    3855             : 
+    3856             :   // if back button was pressed
+    3857           0 :   if (joystick_data->buttons[_channel_back_] == 1) {
+    3858             : 
+    3859           0 :     if (!joystick_back_pressed_) {
+    3860             : 
+    3861           0 :       ROS_INFO("[ControlManager]: joystick back button pressed");
+    3862           0 : 
+    3863             :       joystick_back_pressed_    = true;
+    3864             :       joystick_back_press_time_ = ros::Time::now();
+    3865             :     }
+    3866             : 
+    3867             :   } else if (joystick_back_pressed_) {
+    3868           0 : 
+    3869             :     ROS_INFO("[ControlManager]: joystick back button released");
+    3870           0 : 
+    3871             :     joystick_back_pressed_    = false;
+    3872           0 :     joystick_back_press_time_ = ros::Time(0);
+    3873             :   }
+    3874           0 : 
+    3875           0 :   // | ------------------------ Failsafes ----------------------- |
+    3876             : 
+    3877             :   // if LT and RT buttons are both pressed down
+    3878           0 :   if (joystick_data->axes[_channel_LT_] < -0.99 && joystick_data->axes[_channel_RT_] < -0.99) {
+    3879             : 
+    3880           0 :     if (!joystick_failsafe_pressed_) {
+    3881             : 
+    3882           0 :       ROS_INFO("[ControlManager]: joystick Failsafe pressed");
+    3883           0 : 
+    3884             :       joystick_failsafe_pressed_    = true;
+    3885             :       joystick_failsafe_press_time_ = ros::Time::now();
+    3886             :     }
+    3887           0 : 
+    3888             :   } else if (joystick_failsafe_pressed_) {
+    3889           0 : 
+    3890             :     ROS_INFO("[ControlManager]: joystick Failsafe released");
+    3891           0 : 
+    3892             :     joystick_failsafe_pressed_    = false;
+    3893           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3894           0 :   }
+    3895             : 
+    3896             :   // if left and right joypads are both pressed down
+    3897           0 :   if (joystick_data->buttons[_channel_L_joy_] == 1 && joystick_data->buttons[_channel_R_joy_] == 1) {
+    3898             : 
+    3899           0 :     if (!joystick_eland_pressed_) {
+    3900             : 
+    3901           0 :       ROS_INFO("[ControlManager]: joystick eland pressed");
+    3902           0 : 
+    3903             :       joystick_eland_pressed_    = true;
+    3904             :       joystick_eland_press_time_ = ros::Time::now();
+    3905             :     }
+    3906             : 
+    3907             :   } else if (joystick_eland_pressed_) {
+    3908             : 
+    3909             :     ROS_INFO("[ControlManager]: joystick eland released");
+    3910      219242 : 
+    3911             :     joystick_eland_pressed_    = false;
+    3912      219242 :     joystick_eland_press_time_ = ros::Time(0);
+    3913         315 :   }
+    3914             : }
+    3915      656781 : 
+    3916      656781 : //}
+    3917             : 
+    3918      437854 : /* //{ callbackHwApiStatus() */
+    3919             : 
+    3920             : void ControlManager::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+    3921      218927 : 
+    3922             :   if (!is_initialized_)
+    3923      145576 :     return;
+    3924          47 : 
+    3925          47 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiStatus");
+    3926          47 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackHwApiStatus", scope_timer_logger_, scope_timer_enabled_);
+    3927             : 
+    3928             :   mrs_msgs::HwApiStatusConstPtr state = msg;
+    3929             : 
+    3930             :   // | ------ detect and print the changes in offboard mode ----- |
+    3931       73351 :   if (state->offboard) {
+    3932           0 : 
+    3933           0 :     if (!offboard_mode_) {
+    3934             :       offboard_mode_          = true;
+    3935             :       offboard_mode_was_true_ = true;
+    3936             :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode ON");
+    3937             :     }
+    3938      218927 : 
+    3939             :   } else {
+    3940      149103 : 
+    3941          47 :     if (offboard_mode_) {
+    3942          47 :       offboard_mode_ = false;
+    3943             :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode OFF");
+    3944             :     }
+    3945             :   }
+    3946             : 
+    3947       69824 :   // | --------- detect and print the changes in arming --------- |
+    3948           6 :   if (state->armed == true) {
+    3949           6 : 
+    3950             :     if (!armed_) {
+    3951             :       armed_ = true;
+    3952             :       ROS_INFO("[ControlManager]: detected: vehicle ARMED");
+    3953             :     }
+    3954             : 
+    3955             :   } else {
+    3956             : 
+    3957             :     if (armed_) {
+    3958        6094 :       armed_ = false;
+    3959             :       ROS_INFO("[ControlManager]: detected: vehicle DISARMED");
+    3960        6094 :     }
+    3961           0 :   }
+    3962             : }
+    3963       18282 : 
+    3964       18282 : //}
+    3965             : 
+    3966       12188 : /* //{ callbackRC() */
+    3967             : 
+    3968        6094 : void ControlManager::callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg) {
+    3969             : 
+    3970             :   if (!is_initialized_)
+    3971             :     return;
+    3972             : 
+    3973        6094 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackRC");
+    3974             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackRC", scope_timer_logger_, scope_timer_enabled_);
+    3975        6094 : 
+    3976             :   mrs_msgs::HwApiRcChannelsConstPtr rc = msg;
+    3977           0 : 
+    3978             :   ROS_INFO_ONCE("[ControlManager]: getting RC channels");
+    3979             : 
+    3980             :   // | ------------------- rc joystic control ------------------- |
+    3981             : 
+    3982        6094 :   // when the switch change its position
+    3983        6094 :   if (_rc_goto_enabled_) {
+    3984             : 
+    3985        6094 :     if (_rc_joystick_channel_ >= int(rc->channels.size())) {
+    3986        6094 : 
+    3987             :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC joystick activation channel number (%d) is out of range [0-%d]", _rc_joystick_channel_,
+    3988             :                          int(rc->channels.size()));
+    3989             : 
+    3990        6094 :     } else {
+    3991             : 
+    3992        6094 :       bool channel_low  = rc->channels[_rc_joystick_channel_] < (0.5 - RC_DEADBAND) ? true : false;
+    3993             :       bool channel_high = rc->channels[_rc_joystick_channel_] > (0.5 + RC_DEADBAND) ? true : false;
+    3994           0 : 
+    3995             :       if (channel_low) {
+    3996           0 :         rc_joystick_channel_was_low_ = true;
+    3997             :       }
+    3998           0 : 
+    3999             :       // rc control activation
+    4000           0 :       if (!rc_goto_active_) {
+    4001           0 : 
+    4002             :         if (rc_joystick_channel_last_value_ < (0.5 - RC_DEADBAND) && channel_high) {
+    4003           0 : 
+    4004           0 :           if (isFlyingNormally()) {
+    4005             : 
+    4006             :             ROS_INFO_THROTTLE(1.0, "[ControlManager]: activating RC joystick");
+    4007           0 : 
+    4008             :             callbacks_enabled_ = false;
+    4009             : 
+    4010           0 :             std_srvs::SetBoolRequest req_goto_out;
+    4011           0 :             req_goto_out.data = false;
+    4012             : 
+    4013             :             std_srvs::SetBoolRequest req_enable_callbacks;
+    4014             :             req_enable_callbacks.data = callbacks_enabled_;
+    4015           0 : 
+    4016             :             {
+    4017             :               std::scoped_lock lock(mutex_tracker_list_);
+    4018             : 
+    4019           0 :               // disable callbacks of all trackers
+    4020           0 :               for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4021             :                 tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4022        6094 :               }
+    4023             :             }
+    4024           0 : 
+    4025             :             rc_goto_active_ = true;
+    4026             : 
+    4027             :           } else {
+    4028             : 
+    4029        6094 :             ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, not flying normally");
+    4030             :           }
+    4031           0 : 
+    4032             :         } else if (channel_high && !rc_joystick_channel_was_low_) {
+    4033           0 : 
+    4034             :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, the switch is ON from the beginning");
+    4035           0 :         }
+    4036           0 :       }
+    4037             : 
+    4038           0 :       // rc control deactivation
+    4039           0 :       if (rc_goto_active_ && channel_low) {
+    4040             : 
+    4041             :         ROS_INFO("[ControlManager]: deactivating RC joystick");
+    4042           0 : 
+    4043             :         callbacks_enabled_ = true;
+    4044             : 
+    4045           0 :         std_srvs::SetBoolRequest req_goto_out;
+    4046           0 :         req_goto_out.data = true;
+    4047             : 
+    4048             :         std_srvs::SetBoolRequest req_enable_callbacks;
+    4049             :         req_enable_callbacks.data = callbacks_enabled_;
+    4050           0 : 
+    4051             :         {
+    4052             :           std::scoped_lock lock(mutex_tracker_list_);
+    4053             : 
+    4054             :           // enable callbacks of all trackers
+    4055        6094 :           for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4056        6094 :             tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4057             :           }
+    4058             :         }
+    4059             : 
+    4060             :         rc_goto_active_ = false;
+    4061             :       }
+    4062        6094 : 
+    4063             :       // do not forget to update the last... variable
+    4064        6094 :       // only do that if its out of the deadband
+    4065             :       if (channel_high || channel_low) {
+    4066           0 :         rc_joystick_channel_last_value_ = rc->channels[_rc_joystick_channel_];
+    4067             :       }
+    4068             :     }
+    4069             :   }
+    4070             : 
+    4071        6094 :   // | ------------------------ rc eland ------------------------ |
+    4072             :   if (_rc_escalating_failsafe_enabled_) {
+    4073           0 : 
+    4074             :     if (_rc_escalating_failsafe_channel_ >= int(rc->channels.size())) {
+    4075           0 : 
+    4076             :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC eland channel number (%d) is out of range [0-%d]", _rc_escalating_failsafe_channel_,
+    4077           0 :                          int(rc->channels.size()));
+    4078           0 : 
+    4079             :     } else {
+    4080             : 
+    4081             :       if (rc->channels[_rc_escalating_failsafe_channel_] >= _rc_escalating_failsafe_threshold_) {
+    4082             : 
+    4083             :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: triggering escalating failsafe by RC");
+    4084             : 
+    4085             :         auto [success, message] = escalatingFailsafe();
+    4086             : 
+    4087             :         if (success) {
+    4088             :           rc_escalating_failsafe_triggered_ = true;
+    4089             :         }
+    4090             :       }
+    4091           0 :     }
+    4092             :   }
+    4093           0 : }
+    4094             : 
+    4095           0 : //}
+    4096             : 
+    4097             : // | --------------------- topic timeouts --------------------- |
+    4098             : 
+    4099             : /* timeoutUavState() //{ */
+    4100           0 : 
+    4101             : void ControlManager::timeoutUavState(const double& missing_for) {
+    4102           0 : 
+    4103             :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    4104           0 : 
+    4105             :   if (output_enabled_ && last_control_output.control_output && !failsafe_triggered_) {
+    4106             : 
+    4107             :     // We need to fire up timerFailsafe, which will regularly trigger the controllers
+    4108             :     // in place of the callbackUavState/callbackOdometry().
+    4109             : 
+    4110             :     ROS_ERROR_THROTTLE(0.1, "[ControlManager]: not receiving uav_state/odometry for %.3f s, initiating failsafe land", missing_for);
+    4111             : 
+    4112          98 :     failsafe();
+    4113             :   }
+    4114          98 : }
+    4115           0 : 
+    4116             : //}
+    4117          98 : 
+    4118             : // | -------------------- service callbacks ------------------- |
+    4119           0 : 
+    4120           0 : /* //{ callbackSwitchTracker() */
+    4121             : 
+    4122           0 : bool ControlManager::callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4123           0 : 
+    4124             :   if (!is_initialized_)
+    4125           0 :     return false;
+    4126             : 
+    4127           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4128             : 
+    4129             :     std::stringstream ss;
+    4130          98 :     ss << "can not switch tracker, eland or failsafe active";
+    4131             : 
+    4132          98 :     res.message = ss.str();
+    4133          98 :     res.success = false;
+    4134             : 
+    4135          98 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4136             : 
+    4137             :     return true;
+    4138             :   }
+    4139             : 
+    4140             :   auto [success, response] = switchTracker(req.value);
+    4141             : 
+    4142          96 :   res.success = success;
+    4143             :   res.message = response;
+    4144          96 : 
+    4145           0 :   return true;
+    4146             : }
+    4147          96 : 
+    4148             : //}
+    4149           0 : 
+    4150           0 : /* callbackSwitchController() //{ */
+    4151             : 
+    4152           0 : bool ControlManager::callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4153           0 : 
+    4154             :   if (!is_initialized_)
+    4155           0 :     return false;
+    4156             : 
+    4157           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4158             : 
+    4159             :     std::stringstream ss;
+    4160          96 :     ss << "can not switch controller, eland or failsafe active";
+    4161             : 
+    4162          96 :     res.message = ss.str();
+    4163          96 :     res.success = false;
+    4164             : 
+    4165          96 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4166             : 
+    4167             :     return true;
+    4168             :   }
+    4169             : 
+    4170             :   auto [success, response] = switchController(req.value);
+    4171             : 
+    4172           0 :   res.success = success;
+    4173             :   res.message = response;
+    4174           0 : 
+    4175           0 :   return true;
+    4176             : }
+    4177           0 : 
+    4178             : //}
+    4179           0 : 
+    4180             : /* //{ callbackSwitchTracker() */
+    4181           0 : 
+    4182             : bool ControlManager::callbackTrackerResetStatic([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4183           0 : 
+    4184           0 :   if (!is_initialized_)
+    4185             :     return false;
+    4186           0 : 
+    4187             :   std::stringstream message;
+    4188           0 : 
+    4189             :   if (failsafe_triggered_ || eland_triggered_) {
+    4190             : 
+    4191             :     message << "can not reset tracker, eland or failsafe active";
+    4192             : 
+    4193           0 :     res.message = message.str();
+    4194             :     res.success = false;
+    4195           0 : 
+    4196             :     ROS_WARN_STREAM("[ControlManager]: " << message.str());
+    4197           0 : 
+    4198             :     return true;
+    4199           0 :   }
+    4200           0 : 
+    4201           0 :   // reactivate the current tracker
+    4202             :   {
+    4203           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    4204           0 : 
+    4205             :     std::string tracker_name = _tracker_names_[active_tracker_idx_];
+    4206             : 
+    4207             :     bool succ = tracker_list_[active_tracker_idx_]->resetStatic();
+    4208           0 : 
+    4209           0 :     if (succ) {
+    4210             :       message << "the tracker '" << tracker_name << "' was reset";
+    4211           0 :       ROS_INFO_STREAM("[ControlManager]: " << message.str());
+    4212             :     } else {
+    4213             :       message << "the tracker '" << tracker_name << "' reset failed!";
+    4214             :       ROS_ERROR_STREAM("[ControlManager]: " << message.str());
+    4215             :     }
+    4216             :   }
+    4217             : 
+    4218           0 :   res.message = message.str();
+    4219             :   res.success = true;
+    4220           0 : 
+    4221           0 :   return true;
+    4222             : }
+    4223           0 : 
+    4224             : //}
+    4225           0 : 
+    4226           0 : /* //{ callbackEHover() */
+    4227             : 
+    4228           0 : bool ControlManager::callbackEHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4229           0 : 
+    4230             :   if (!is_initialized_)
+    4231           0 :     return false;
+    4232             : 
+    4233           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4234             : 
+    4235             :     std::stringstream ss;
+    4236           0 :     ss << "can not switch controller, eland or failsafe active";
+    4237             : 
+    4238           0 :     res.message = ss.str();
+    4239             :     res.success = false;
+    4240           0 : 
+    4241           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4242             : 
+    4243           0 :     return true;
+    4244             :   }
+    4245             : 
+    4246             :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: ehover trigger by callback");
+    4247             : 
+    4248             :   auto [success, message] = ehover();
+    4249             : 
+    4250           8 :   res.success = success;
+    4251             :   res.message = message;
+    4252           8 : 
+    4253           0 :   return true;
+    4254             : }
+    4255           8 : 
+    4256             : //}
+    4257           0 : 
+    4258           0 : /* callbackFailsafe() //{ */
+    4259             : 
+    4260           0 : bool ControlManager::callbackFailsafe([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4261           0 : 
+    4262             :   if (!is_initialized_)
+    4263           0 :     return false;
+    4264             : 
+    4265           0 :   if (failsafe_triggered_) {
+    4266             : 
+    4267             :     std::stringstream ss;
+    4268           8 :     ss << "can not activate failsafe, it is already active";
+    4269             : 
+    4270           8 :     res.message = ss.str();
+    4271             :     res.success = false;
+    4272           8 : 
+    4273           8 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4274             : 
+    4275           8 :     return true;
+    4276             :   }
+    4277             : 
+    4278             :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: failsafe triggered by callback");
+    4279             : 
+    4280             :   auto [success, message] = failsafe();
+    4281             : 
+    4282           0 :   res.success = success;
+    4283             :   res.message = message;
+    4284           0 : 
+    4285           0 :   return true;
+    4286             : }
+    4287           0 : 
+    4288             : //}
+    4289           0 : 
+    4290             : /* callbackFailsafeEscalating() //{ */
+    4291           0 : 
+    4292             : bool ControlManager::callbackFailsafeEscalating([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4293           0 : 
+    4294           0 :   if (!is_initialized_)
+    4295             :     return false;
+    4296             : 
+    4297             :   if (_service_escalating_failsafe_enabled_) {
+    4298           0 : 
+    4299           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: escalating failsafe triggered by callback");
+    4300             : 
+    4301           0 :     auto [success, message] = escalatingFailsafe();
+    4302           0 : 
+    4303             :     res.success = success;
+    4304           0 :     res.message = message;
+    4305             : 
+    4306             :   } else {
+    4307           0 : 
+    4308             :     std::stringstream ss;
+    4309             :     ss << "escalating failsafe is disabled";
+    4310             : 
+    4311             :     res.success = false;
+    4312             :     res.message = ss.str();
+    4313             : 
+    4314           1 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: %s", ss.str().c_str());
+    4315             :   }
+    4316           1 : 
+    4317           0 :   return true;
+    4318             : }
+    4319           1 : 
+    4320             : //}
+    4321           1 : 
+    4322             : /* //{ callbackELand() */
+    4323           1 : 
+    4324           1 : bool ControlManager::callbackEland([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4325             : 
+    4326           1 :   if (!is_initialized_)
+    4327             :     return false;
+    4328             : 
+    4329             :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: eland triggered by callback");
+    4330             : 
+    4331             :   auto [success, message] = eland();
+    4332             : 
+    4333           0 :   res.success = success;
+    4334             :   res.message = message;
+    4335           0 : 
+    4336           0 :   return true;
+    4337             : }
+    4338           0 : 
+    4339             : //}
+    4340           0 : 
+    4341           0 : /* //{ callbackParachute() */
+    4342           0 : 
+    4343           0 : bool ControlManager::callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4344           0 : 
+    4345             :   if (!is_initialized_)
+    4346             :     return false;
+    4347           0 : 
+    4348             :   if (!_parachute_enabled_) {
+    4349           0 : 
+    4350             :     std::stringstream ss;
+    4351           0 :     ss << "parachute disabled";
+    4352           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4353             :     res.message = ss.str();
+    4354           0 :     res.success = false;
+    4355             :   }
+    4356             : 
+    4357             :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: parachute triggered by callback");
+    4358             : 
+    4359             :   auto [success, message] = deployParachute();
+    4360             : 
+    4361          47 :   res.success = success;
+    4362             :   res.message = message;
+    4363          47 : 
+    4364           0 :   return true;
+    4365             : }
+    4366          47 : 
+    4367             : //}
+    4368             : 
+    4369          94 : /* //{ callbackToggleOutput() */
+    4370             : 
+    4371          94 : bool ControlManager::callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4372             : 
+    4373          47 :   if (!is_initialized_)
+    4374             :     return false;
+    4375             : 
+    4376          94 :   ROS_INFO("[ControlManager]: toggling output by service");
+    4377          47 : 
+    4378          47 :   // copy member variables
+    4379          47 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4380             : 
+    4381          47 :   std::stringstream ss;
+    4382           0 : 
+    4383           0 :   bool prereq_check = true;
+    4384             : 
+    4385             :   {
+    4386             :     mrs_msgs::ReferenceStamped current_coord;
+    4387          47 :     current_coord.header.frame_id      = uav_state.header.frame_id;
+    4388           0 :     current_coord.reference.position.x = uav_state.pose.position.x;
+    4389           0 :     current_coord.reference.position.y = uav_state.pose.position.y;
+    4390             : 
+    4391             :     if (!isPointInSafetyArea2d(current_coord)) {
+    4392          47 :       ss << "cannot toggle output, the UAV is outside of the safety area!";
+    4393           0 :       prereq_check = false;
+    4394           0 :     }
+    4395             :   }
+    4396             : 
+    4397          47 :   if (req.data && (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_)) {
+    4398           0 :     ss << "cannot toggle output ON, we landed in emergency";
+    4399           0 :     prereq_check = false;
+    4400             :   }
+    4401             : 
+    4402          47 :   if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 1.0) {
+    4403             :     ss << "cannot toggle output ON, missing HW API status!";
+    4404           0 :     prereq_check = false;
+    4405           0 :   }
+    4406             : 
+    4407           0 :   if (bumper_enabled_ && !sh_bumper_.hasMsg()) {
+    4408             :     ss << "cannot toggle output ON, missing bumper data!";
+    4409           0 :     prereq_check = false;
+    4410             :   }
+    4411             : 
+    4412             :   if (!prereq_check) {
+    4413          47 : 
+    4414             :     res.message = ss.str();
+    4415          47 :     res.success = false;
+    4416          47 : 
+    4417          47 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4418             : 
+    4419          47 :     return false;
+    4420             : 
+    4421          47 :   } else {
+    4422             : 
+    4423          47 :     toggleOutput(req.data);
+    4424             : 
+    4425             :     ss << "Output: " << (output_enabled_ ? "ON" : "OFF");
+    4426             :     res.message = ss.str();
+    4427             :     res.success = true;
+    4428             : 
+    4429             :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4430             : 
+    4431           2 :     publishDiagnostics();
+    4432             : 
+    4433           2 :     return true;
+    4434           0 :   }
+    4435             : }
+    4436           2 : 
+    4437             : //}
+    4438           4 : 
+    4439             : /* callbackArm() //{ */
+    4440           2 : 
+    4441             : bool ControlManager::callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4442           0 : 
+    4443             :   if (!is_initialized_)
+    4444           0 :     return false;
+    4445           0 : 
+    4446             :   ROS_INFO("[ControlManager]: arming by service");
+    4447           0 : 
+    4448             :   std::stringstream ss;
+    4449           0 : 
+    4450             :   if (failsafe_triggered_ || eland_triggered_) {
+    4451             : 
+    4452           2 :     ss << "can not " << (req.data ? "arm" : "disarm") << ", eland or failsafe active";
+    4453             : 
+    4454           0 :     res.message = ss.str();
+    4455           0 :     res.success = false;
+    4456           0 : 
+    4457             :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4458             : 
+    4459             :     return true;
+    4460           4 :   }
+    4461             : 
+    4462           2 :   if (req.data) {
+    4463             : 
+    4464           2 :     ss << "this service is not allowed to arm the UAV";
+    4465           2 :     res.success = false;
+    4466           2 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4467             : 
+    4468             :   } else {
+    4469             : 
+    4470           0 :     auto [success, message] = arming(false);
+    4471           0 : 
+    4472           0 :     if (success) {
+    4473             : 
+    4474             :       ss << "disarmed";
+    4475             :       res.success = true;
+    4476           2 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4477             : 
+    4478           2 :     } else {
+    4479             : 
+    4480             :       ss << "could not disarm: " << message;
+    4481             :       res.success = false;
+    4482             :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4483             :     }
+    4484             :   }
+    4485           2 : 
+    4486             :   res.message = ss.str();
+    4487           2 : 
+    4488           0 :   return true;
+    4489             : }
+    4490           2 : 
+    4491             : //}
+    4492           2 : 
+    4493             : /* //{ callbackEnableCallbacks() */
+    4494           2 : 
+    4495             : bool ControlManager::callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4496           2 : 
+    4497           2 :   if (!is_initialized_)
+    4498             :     return false;
+    4499           2 : 
+    4500             :   setCallbacks(req.data);
+    4501           2 : 
+    4502             :   std::stringstream ss;
+    4503             : 
+    4504             :   ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+    4505             : 
+    4506             :   res.message = ss.str();
+    4507             :   res.success = true;
+    4508          47 : 
+    4509             :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4510          47 : 
+    4511           0 :   return true;
+    4512           0 : }
+    4513           0 : 
+    4514             : //}
+    4515             : 
+    4516             : /* callbackSetConstraints() //{ */
+    4517          94 : 
+    4518             : bool ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res) {
+    4519          47 : 
+    4520             :   if (!is_initialized_) {
+    4521          47 :     res.message = "not initialized";
+    4522             :     res.success = false;
+    4523          47 :     return true;
+    4524           0 :   }
+    4525           0 : 
+    4526             :   {
+    4527          47 :     std::scoped_lock lock(mutex_constraints_);
+    4528          47 : 
+    4529             :     current_constraints_ = req;
+    4530             : 
+    4531          47 :     auto enforced = enforceControllersConstraints(current_constraints_);
+    4532             : 
+    4533          47 :     if (enforced) {
+    4534          47 :       sanitized_constraints_      = enforced.value();
+    4535             :       constraints_being_enforced_ = true;
+    4536             :     } else {
+    4537          47 :       sanitized_constraints_      = req;
+    4538          47 :       constraints_being_enforced_ = false;
+    4539             :     }
+    4540          47 : 
+    4541             :     got_constraints_ = true;
+    4542             : 
+    4543             :     setConstraintsToControllers(current_constraints_);
+    4544             :     setConstraintsToTrackers(sanitized_constraints_);
+    4545             :   }
+    4546             : 
+    4547           0 :   res.message = "setting constraints";
+    4548             :   res.success = true;
+    4549           0 : 
+    4550           0 :   return true;
+    4551             : }
+    4552           0 : 
+    4553             : //}
+    4554           0 : 
+    4555             : /* //{ callbackEmergencyReference() */
+    4556           0 : 
+    4557             : bool ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    4558           0 : 
+    4559             :   if (!is_initialized_)
+    4560             :     return false;
+    4561           0 : 
+    4562           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4563           0 : 
+    4564             :   callbacks_enabled_ = false;
+    4565           0 : 
+    4566             :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    4567           0 : 
+    4568             :   std::stringstream ss;
+    4569           0 : 
+    4570             :   // transform the reference to the current frame
+    4571           0 :   mrs_msgs::ReferenceStamped original_reference;
+    4572           0 :   original_reference.header    = req.header;
+    4573           0 :   original_reference.reference = req.reference;
+    4574           0 : 
+    4575             :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    4576             : 
+    4577           0 :   if (!ret) {
+    4578             : 
+    4579           0 :     ss << "the emergency reference could not be transformed";
+    4580             : 
+    4581           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4582           0 :     res.message = ss.str();
+    4583             :     res.success = false;
+    4584             :     return true;
+    4585           0 :   }
+    4586             : 
+    4587             :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    4588           0 : 
+    4589           0 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    4590           0 : 
+    4591             :   mrs_msgs::ReferenceSrvRequest req_goto_out;
+    4592             :   req_goto_out.reference = transformed_reference.reference;
+    4593             : 
+    4594           0 :   {
+    4595           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    4596             : 
+    4597             :     // disable callbacks of all trackers
+    4598           0 :     req_enable_callbacks.data = false;
+    4599           0 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4600             :       tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4601             :     }
+    4602           0 : 
+    4603           0 :     // enable the callbacks for the active tracker
+    4604             :     req_enable_callbacks.data = true;
+    4605           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4606           0 : 
+    4607           0 :     // call the setReference()
+    4608             :     tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    4609           0 :         mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    4610           0 : 
+    4611           0 :     // disable the callbacks back again
+    4612             :     req_enable_callbacks.data = false;
+    4613             :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4614             : 
+    4615           0 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    4616             :       res.message = tracker_response->message;
+    4617             :       res.success = tracker_response->success;
+    4618             :     } else {
+    4619             :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setReference()' function!";
+    4620             :       res.message = ss.str();
+    4621             :       res.success = false;
+    4622           0 :     }
+    4623             :   }
+    4624           0 : 
+    4625           0 :   return true;
+    4626             : }
+    4627             : 
+    4628           0 : //}
+    4629             : 
+    4630             : /* callbackPirouette() //{ */
+    4631             : 
+    4632           0 : bool ControlManager::callbackPirouette([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4633             : 
+    4634           0 :   if (!is_initialized_)
+    4635           0 :     return false;
+    4636           0 : 
+    4637             :   // copy member variables
+    4638           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4639             : 
+    4640           0 :   double uav_heading;
+    4641           0 :   try {
+    4642             :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    4643           0 :   }
+    4644             :   catch (...) {
+    4645             :     std::stringstream ss;
+    4646           0 :     ss << "could not calculate the UAV heading to initialize the pirouette";
+    4647           0 : 
+    4648           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4649           0 : 
+    4650             :     res.message = ss.str();
+    4651             :     res.success = false;
+    4652           0 : 
+    4653             :     return false;
+    4654           0 :   }
+    4655           0 : 
+    4656             :   if (_pirouette_enabled_) {
+    4657           0 :     res.success = false;
+    4658           0 :     res.message = "already active";
+    4659             :     return true;
+    4660           0 :   }
+    4661             : 
+    4662           0 :   if (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_) {
+    4663             : 
+    4664             :     std::stringstream ss;
+    4665           0 :     ss << "can not activate the pirouette, eland or failsafe active";
+    4666             : 
+    4667           0 :     res.message = ss.str();
+    4668             :     res.success = false;
+    4669           0 : 
+    4670           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4671           0 : 
+    4672             :     return true;
+    4673           0 :   }
+    4674           0 : 
+    4675             :   _pirouette_enabled_ = true;
+    4676           0 : 
+    4677             :   setCallbacks(false);
+    4678             : 
+    4679             :   pirouette_initial_heading_ = uav_heading;
+    4680             :   pirouette_iterator_        = 0;
+    4681             :   timer_pirouette_.start();
+    4682             : 
+    4683           0 :   res.success = true;
+    4684             :   res.message = "activated";
+    4685           0 : 
+    4686           0 :   return true;
+    4687             : }
+    4688             : 
+    4689           0 : //}
+    4690             : 
+    4691             : /* callbackUseJoystick() //{ */
+    4692           0 : 
+    4693             : bool ControlManager::callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4694           0 : 
+    4695             :   if (!is_initialized_) {
+    4696           0 :     return false;
+    4697           0 :   }
+    4698             : 
+    4699           0 :   std::stringstream ss;
+    4700           0 : 
+    4701             :   {
+    4702           0 :     auto [success, response] = switchTracker(_joystick_tracker_name_);
+    4703             : 
+    4704             :     if (!success) {
+    4705             : 
+    4706           0 :       ss << "switching to '" << _joystick_tracker_name_ << "' was unsuccessfull: '" << response << "'";
+    4707             :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4708           0 : 
+    4709             :       res.success = false;
+    4710           0 :       res.message = ss.str();
+    4711           0 : 
+    4712             :       return true;
+    4713           0 :     }
+    4714           0 :   }
+    4715             : 
+    4716             :   auto [success, response] = switchController(_joystick_controller_name_);
+    4717           0 : 
+    4718             :   if (!success) {
+    4719             : 
+    4720           0 :     ss << "switching to '" << _joystick_controller_name_ << "' was unsuccessfull: '" << response << "'";
+    4721             :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4722           0 : 
+    4723             :     res.success = false;
+    4724           0 :     res.message = ss.str();
+    4725             : 
+    4726             :     // switch back to hover tracker
+    4727           0 :     switchTracker(_ehover_tracker_name_);
+    4728             : 
+    4729           0 :     // switch back to safety controller
+    4730           0 :     switchController(_eland_controller_name_);
+    4731             : 
+    4732           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4733             : 
+    4734           0 :     return true;
+    4735             :   }
+    4736             : 
+    4737             :   ss << "switched to joystick control";
+    4738             : 
+    4739             :   res.success = true;
+    4740             :   res.message = ss.str();
+    4741           0 : 
+    4742             :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4743           0 : 
+    4744           0 :   return true;
+    4745             : }
+    4746           0 : 
+    4747             : //}
+    4748           0 : 
+    4749           0 : /* //{ callbackHover() */
+    4750             : 
+    4751           0 : bool ControlManager::callbackHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4752             : 
+    4753             :   if (!is_initialized_)
+    4754             :     return false;
+    4755             : 
+    4756             :   auto [success, message] = hover();
+    4757             : 
+    4758           0 :   res.success = success;
+    4759             :   res.message = message;
+    4760           0 : 
+    4761           0 :   return true;
+    4762             : }
+    4763           0 : 
+    4764             : //}
+    4765           0 : 
+    4766           0 : /* //{ callbackStartTrajectoryTracking() */
+    4767             : 
+    4768           0 : bool ControlManager::callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4769             : 
+    4770             :   if (!is_initialized_)
+    4771             :     return false;
+    4772             : 
+    4773             :   auto [success, message] = startTrajectoryTracking();
+    4774             : 
+    4775           0 :   res.success = success;
+    4776             :   res.message = message;
+    4777           0 : 
+    4778           0 :   return true;
+    4779             : }
+    4780           0 : 
+    4781             : //}
+    4782           0 : 
+    4783           0 : /* //{ callbackStopTrajectoryTracking() */
+    4784             : 
+    4785           0 : bool ControlManager::callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4786             : 
+    4787             :   if (!is_initialized_)
+    4788             :     return false;
+    4789             : 
+    4790             :   auto [success, message] = stopTrajectoryTracking();
+    4791             : 
+    4792           0 :   res.success = success;
+    4793             :   res.message = message;
+    4794           0 : 
+    4795           0 :   return true;
+    4796             : }
+    4797           0 : 
+    4798             : //}
+    4799           0 : 
+    4800           0 : /* //{ callbackResumeTrajectoryTracking() */
+    4801             : 
+    4802           0 : bool ControlManager::callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4803             : 
+    4804             :   if (!is_initialized_)
+    4805             :     return false;
+    4806             : 
+    4807             :   auto [success, message] = resumeTrajectoryTracking();
+    4808             : 
+    4809           0 :   res.success = success;
+    4810             :   res.message = message;
+    4811           0 : 
+    4812           0 :   return true;
+    4813             : }
+    4814           0 : 
+    4815             : //}
+    4816           0 : 
+    4817           0 : /* //{ callbackGotoTrajectoryStart() */
+    4818             : 
+    4819           0 : bool ControlManager::callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4820             : 
+    4821             :   if (!is_initialized_)
+    4822             :     return false;
+    4823             : 
+    4824             :   auto [success, message] = gotoTrajectoryStart();
+    4825             : 
+    4826           0 :   res.success = success;
+    4827             :   res.message = message;
+    4828           0 : 
+    4829           0 :   return true;
+    4830             : }
+    4831             : 
+    4832           0 : //}
+    4833             : 
+    4834           0 : /* //{ callbackTransformReference() */
+    4835             : 
+    4836           0 : bool ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res) {
+    4837           0 : 
+    4838           0 :   if (!is_initialized_)
+    4839           0 :     return false;
+    4840             : 
+    4841             :   // transform the reference to the current frame
+    4842             :   mrs_msgs::ReferenceStamped transformed_reference = req.reference;
+    4843           0 : 
+    4844           0 :   if (auto ret = transformer_->transformSingle(transformed_reference, req.frame_id)) {
+    4845           0 : 
+    4846             :     res.reference = ret.value();
+    4847             :     res.message   = "transformation successful";
+    4848             :     res.success   = true;
+    4849             :     return true;
+    4850             : 
+    4851             :   } else {
+    4852             : 
+    4853             :     res.message = "the reference could not be transformed";
+    4854             :     res.success = false;
+    4855           0 :     return true;
+    4856             :   }
+    4857           0 : 
+    4858           0 :   return true;
+    4859             : }
+    4860             : 
+    4861           0 : //}
+    4862             : 
+    4863           0 : /* //{ callbackTransformPose() */
+    4864             : 
+    4865           0 : bool ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res) {
+    4866           0 : 
+    4867           0 :   if (!is_initialized_)
+    4868           0 :     return false;
+    4869             : 
+    4870             :   // transform the reference to the current frame
+    4871             :   geometry_msgs::PoseStamped transformed_pose = req.pose;
+    4872           0 : 
+    4873           0 :   if (auto ret = transformer_->transformSingle(transformed_pose, req.frame_id)) {
+    4874           0 : 
+    4875             :     res.pose    = ret.value();
+    4876             :     res.message = "transformation successful";
+    4877             :     res.success = true;
+    4878             :     return true;
+    4879             : 
+    4880             :   } else {
+    4881             : 
+    4882             :     res.message = "the pose could not be transformed";
+    4883             :     res.success = false;
+    4884           0 :     return true;
+    4885             :   }
+    4886           0 : 
+    4887           0 :   return true;
+    4888             : }
+    4889             : 
+    4890           0 : //}
+    4891             : 
+    4892           0 : /* //{ callbackTransformVector3() */
+    4893             : 
+    4894           0 : bool ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res) {
+    4895           0 : 
+    4896           0 :   if (!is_initialized_)
+    4897           0 :     return false;
+    4898             : 
+    4899             :   // transform the reference to the current frame
+    4900             :   geometry_msgs::Vector3Stamped transformed_vector3 = req.vector;
+    4901           0 : 
+    4902           0 :   if (auto ret = transformer_->transformSingle(transformed_vector3, req.frame_id)) {
+    4903           0 : 
+    4904             :     res.vector  = ret.value();
+    4905             :     res.message = "transformation successful";
+    4906             :     res.success = true;
+    4907             :     return true;
+    4908             : 
+    4909             :   } else {
+    4910             : 
+    4911             :     res.message = "the twist could not be transformed";
+    4912             :     res.success = false;
+    4913           0 :     return true;
+    4914             :   }
+    4915           0 : 
+    4916           0 :   return true;
+    4917             : }
+    4918           0 : 
+    4919             : //}
+    4920           0 : 
+    4921             : /* //{ callbackEnableBumper() */
+    4922           0 : 
+    4923             : bool ControlManager::callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4924           0 : 
+    4925             :   if (!is_initialized_)
+    4926           0 :     return false;
+    4927           0 : 
+    4928             :   bumper_enabled_ = req.data;
+    4929           0 : 
+    4930             :   std::stringstream ss;
+    4931             : 
+    4932             :   ss << "bumper " << (bumper_enabled_ ? "enalbed" : "disabled");
+    4933             : 
+    4934             :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4935             : 
+    4936           0 :   res.success = true;
+    4937             :   res.message = ss.str();
+    4938           0 : 
+    4939           0 :   return true;
+    4940             : }
+    4941           0 : 
+    4942             : //}
+    4943           0 : 
+    4944             : /* //{ callbackUseSafetyArea() */
+    4945           0 : 
+    4946             : bool ControlManager::callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4947           0 : 
+    4948             :   if (!is_initialized_)
+    4949           0 :     return false;
+    4950           0 : 
+    4951             :   use_safety_area_ = req.data;
+    4952           0 : 
+    4953             :   std::stringstream ss;
+    4954             : 
+    4955             :   ss << "safety area " << (use_safety_area_ ? "enabled" : "disabled");
+    4956             : 
+    4957             :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4958             : 
+    4959           0 :   res.success = true;
+    4960             :   res.message = ss.str();
+    4961           0 : 
+    4962           0 :   return true;
+    4963             : }
+    4964             : 
+    4965           0 : //}
+    4966             : 
+    4967           0 : /* //{ callbackGetMinZ() */
+    4968           0 : 
+    4969             : bool ControlManager::callbackGetMinZ([[maybe_unused]] mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res) {
+    4970           0 : 
+    4971             :   if (!is_initialized_) {
+    4972             :     return false;
+    4973             :   }
+    4974             : 
+    4975             :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4976             : 
+    4977           0 :   res.success = true;
+    4978             :   res.value   = getMinZ(uav_state.header.frame_id);
+    4979           0 : 
+    4980           0 :   return true;
+    4981           0 : }
+    4982           0 : 
+    4983             : //}
+    4984             : 
+    4985           0 : /* //{ callbackValidateReference() */
+    4986           0 : 
+    4987           0 : bool ControlManager::callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    4988           0 : 
+    4989           0 :   if (!is_initialized_) {
+    4990             :     res.message = "not initialized";
+    4991             :     res.success = false;
+    4992             :     return true;
+    4993           0 :   }
+    4994           0 : 
+    4995             :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    4996             :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    4997           0 :     res.message = "NaNs/infs in input!";
+    4998           0 :     res.success = false;
+    4999           0 :     return true;
+    5000             :   }
+    5001           0 : 
+    5002             :   // copy member variables
+    5003           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5004             :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5005           0 : 
+    5006           0 :   // transform the reference to the current frame
+    5007           0 :   mrs_msgs::ReferenceStamped original_reference;
+    5008           0 :   original_reference.header    = req.reference.header;
+    5009             :   original_reference.reference = req.reference.reference;
+    5010             : 
+    5011           0 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5012             : 
+    5013           0 :   if (!ret) {
+    5014           0 : 
+    5015           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5016           0 :     res.message = "the reference could not be transformed";
+    5017           0 :     res.success = false;
+    5018             :     return true;
+    5019             :   }
+    5020           0 : 
+    5021             :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5022           0 : 
+    5023           0 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5024           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5025           0 :     res.message = "the point is outside of the safety area";
+    5026           0 :     res.success = false;
+    5027             :     return true;
+    5028           0 :   }
+    5029           0 : 
+    5030           0 :   if (last_tracker_cmd) {
+    5031           0 : 
+    5032           0 :     mrs_msgs::ReferenceStamped from_point;
+    5033             :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5034             :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5035             :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5036           0 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5037           0 : 
+    5038           0 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5039             :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5040             :       res.message = "the path is going outside the safety area";
+    5041             :       res.success = false;
+    5042             :       return true;
+    5043             :     }
+    5044             :   }
+    5045         960 : 
+    5046             :   res.message = "the reference is ok";
+    5047         960 :   res.success = true;
+    5048           0 :   return true;
+    5049           0 : }
+    5050           0 : 
+    5051             : //}
+    5052             : 
+    5053         960 : /* //{ callbackValidateReference2d() */
+    5054           0 : 
+    5055           0 : bool ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5056           0 : 
+    5057           0 :   if (!is_initialized_) {
+    5058             :     res.message = "not initialized";
+    5059             :     res.success = false;
+    5060             :     return true;
+    5061        1920 :   }
+    5062        1920 : 
+    5063             :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5064             :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5065        1920 :     res.message = "NaNs/infs in input!";
+    5066         960 :     res.success = false;
+    5067         960 :     return true;
+    5068             :   }
+    5069        1920 : 
+    5070             :   // copy member variables
+    5071         960 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5072             :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5073           0 : 
+    5074           0 :   // transform the reference to the current frame
+    5075           0 :   mrs_msgs::ReferenceStamped original_reference;
+    5076           0 :   original_reference.header    = req.reference.header;
+    5077             :   original_reference.reference = req.reference.reference;
+    5078             : 
+    5079        1920 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5080             : 
+    5081         960 :   if (!ret) {
+    5082           0 : 
+    5083           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5084           0 :     res.message = "the reference could not be transformed";
+    5085           0 :     res.success = false;
+    5086             :     return true;
+    5087             :   }
+    5088         960 : 
+    5089             :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5090           0 : 
+    5091           0 :   if (!isPointInSafetyArea2d(transformed_reference)) {
+    5092           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5093           0 :     res.message = "the point is outside of the safety area";
+    5094           0 :     res.success = false;
+    5095             :     return true;
+    5096           0 :   }
+    5097           0 : 
+    5098           0 :   if (last_tracker_cmd) {
+    5099           0 : 
+    5100           0 :     mrs_msgs::ReferenceStamped from_point;
+    5101             :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5102             :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5103             :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5104         960 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5105         960 : 
+    5106         960 :     if (!isPathToPointInSafetyArea2d(from_point, transformed_reference)) {
+    5107             :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5108             :       res.message = "the path is going outside the safety area";
+    5109             :       res.success = false;
+    5110             :       return true;
+    5111             :     }
+    5112             :   }
+    5113           0 : 
+    5114             :   res.message = "the reference is ok";
+    5115           0 :   res.success = true;
+    5116           0 :   return true;
+    5117           0 : }
+    5118             : 
+    5119             : //}
+    5120             : 
+    5121           0 : /* //{ callbackValidateReferenceList() */
+    5122           0 : 
+    5123             : bool ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res) {
+    5124             : 
+    5125           0 :   if (!is_initialized_) {
+    5126             :     res.message = "not initialized";
+    5127           0 :     return false;
+    5128             :   }
+    5129           0 : 
+    5130           0 :   // copy member variables
+    5131           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5132             :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5133             : 
+    5134           0 :   // get the transformer
+    5135             :   auto ret = transformer_->getTransform(uav_state.header.frame_id, req.list.header.frame_id, req.list.header.stamp);
+    5136           0 : 
+    5137             :   if (!ret) {
+    5138           0 : 
+    5139             :     ROS_DEBUG("[ControlManager]: could not find transform for the reference");
+    5140           0 :     res.message = "could not find transform";
+    5141           0 :     return false;
+    5142           0 :   }
+    5143             : 
+    5144           0 :   geometry_msgs::TransformStamped tf = ret.value();
+    5145             : 
+    5146           0 :   for (int i = 0; i < int(req.list.list.size()); i++) {
+    5147             : 
+    5148           0 :     res.success.push_back(true);
+    5149             : 
+    5150           0 :     mrs_msgs::ReferenceStamped original_reference;
+    5151           0 :     original_reference.header    = req.list.header;
+    5152             :     original_reference.reference = req.list.list[i];
+    5153             : 
+    5154           0 :     res.success[i] = validateReference(original_reference.reference, "ControlManager", "reference_list");
+    5155             : 
+    5156           0 :     auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5157           0 : 
+    5158             :     if (!ret) {
+    5159             : 
+    5160           0 :       ROS_DEBUG("[ControlManager]: the reference could not be transformed");
+    5161             :       res.success[i] = false;
+    5162           0 :     }
+    5163           0 : 
+    5164           0 :     mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5165           0 : 
+    5166           0 :     if (!isPointInSafetyArea3d(transformed_reference)) {
+    5167             :       res.success[i] = false;
+    5168           0 :     }
+    5169           0 : 
+    5170             :     if (last_tracker_cmd) {
+    5171             : 
+    5172             :       mrs_msgs::ReferenceStamped from_point;
+    5173             :       from_point.header.frame_id      = uav_state.header.frame_id;
+    5174           0 :       from_point.reference.position.x = last_tracker_cmd->position.x;
+    5175           0 :       from_point.reference.position.y = last_tracker_cmd->position.y;
+    5176             :       from_point.reference.position.z = last_tracker_cmd->position.z;
+    5177             : 
+    5178             :       if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5179             :         res.success[i] = false;
+    5180             :       }
+    5181             :     }
+    5182             :   }
+    5183             : 
+    5184           0 :   res.message = "references were checked";
+    5185             :   return true;
+    5186           0 : }
+    5187           0 : 
+    5188           0 : //}
+    5189           0 : 
+    5190             : // | -------------- setpoint topics and services -------------- |
+    5191             : 
+    5192           0 : /* //{ callbackReferenceService() */
+    5193           0 : 
+    5194             : bool ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    5195           0 : 
+    5196           0 :   if (!is_initialized_) {
+    5197           0 :     res.message = "not initialized";
+    5198             :     res.success = false;
+    5199           0 :     return true;
+    5200             :   }
+    5201           0 : 
+    5202           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceService");
+    5203             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5204           0 : 
+    5205             :   mrs_msgs::ReferenceStamped des_reference;
+    5206             :   des_reference.header    = req.header;
+    5207             :   des_reference.reference = req.reference;
+    5208             : 
+    5209             :   auto [success, message] = setReference(des_reference);
+    5210             : 
+    5211           0 :   res.success = success;
+    5212             :   res.message = message;
+    5213           0 : 
+    5214           0 :   return true;
+    5215             : }
+    5216           0 : 
+    5217           0 : //}
+    5218             : 
+    5219           0 : /* //{ callbackReferenceTopic() */
+    5220             : 
+    5221             : void ControlManager::callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg) {
+    5222             : 
+    5223             :   if (!is_initialized_)
+    5224             :     return;
+    5225             : 
+    5226           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceTopic");
+    5227             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5228             : 
+    5229           0 :   setReference(*msg);
+    5230           0 : }
+    5231           0 : 
+    5232           0 : //}
+    5233             : 
+    5234             : /* //{ callbackVelocityReferenceService() */
+    5235           0 : 
+    5236           0 : bool ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request&  req,
+    5237             :                                                       mrs_msgs::VelocityReferenceStampedSrv::Response& res) {
+    5238           0 : 
+    5239           0 :   if (!is_initialized_) {
+    5240             :     res.message = "not initialized";
+    5241           0 :     res.success = false;
+    5242             :     return true;
+    5243           0 :   }
+    5244           0 : 
+    5245             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceService");
+    5246           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5247             : 
+    5248             :   mrs_msgs::VelocityReferenceStamped des_reference;
+    5249             :   des_reference = req.reference;
+    5250             : 
+    5251             :   auto [success, message] = setVelocityReference(des_reference);
+    5252             : 
+    5253           0 :   res.success = success;
+    5254             :   res.message = message;
+    5255           0 : 
+    5256           0 :   return true;
+    5257             : }
+    5258           0 : 
+    5259           0 : //}
+    5260             : 
+    5261           0 : /* //{ callbackVelocityReferenceTopic() */
+    5262             : 
+    5263             : void ControlManager::callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg) {
+    5264             : 
+    5265             :   if (!is_initialized_)
+    5266             :     return;
+    5267             : 
+    5268           1 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceTopic");
+    5269             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5270           1 : 
+    5271           0 :   setVelocityReference(*msg);
+    5272           0 : }
+    5273           0 : 
+    5274             : //}
+    5275             : 
+    5276           3 : /* //{ callbackTrajectoryReferenceService() */
+    5277           3 : 
+    5278             : bool ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res) {
+    5279           2 : 
+    5280             :   if (!is_initialized_) {
+    5281           1 :     res.message = "not initialized";
+    5282           1 :     res.success = false;
+    5283           1 :     return true;
+    5284           1 :   }
+    5285           1 : 
+    5286             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceService");
+    5287           7 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5288           6 : 
+    5289             :   auto [success, message, modified, tracker_names, tracker_successes, tracker_messages] = setTrajectoryReference(req.trajectory);
+    5290             : 
+    5291           1 :   res.success          = success;
+    5292             :   res.message          = message;
+    5293             :   res.modified         = modified;
+    5294             :   res.tracker_names    = tracker_names;
+    5295             :   res.tracker_messages = tracker_messages;
+    5296             : 
+    5297             :   for (size_t i = 0; i < tracker_successes.size(); i++) {
+    5298           0 :     res.tracker_successes.push_back(tracker_successes[i]);
+    5299             :   }
+    5300           0 : 
+    5301           0 :   return true;
+    5302             : }
+    5303           0 : 
+    5304           0 : //}
+    5305             : 
+    5306           0 : /* //{ callbackTrajectoryReferenceTopic() */
+    5307             : 
+    5308             : void ControlManager::callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg) {
+    5309             : 
+    5310             :   if (!is_initialized_)
+    5311             :     return;
+    5312             : 
+    5313             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceTopic");
+    5314             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5315          28 : 
+    5316             :   setTrajectoryReference(*msg);
+    5317          28 : }
+    5318           0 : 
+    5319           0 : //}
+    5320           0 : 
+    5321             : // | ------------- human-callable "goto" services ------------- |
+    5322             : 
+    5323          84 : /* //{ callbackGoto() */
+    5324          84 : 
+    5325             : bool ControlManager::callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5326          56 : 
+    5327          28 :   if (!is_initialized_) {
+    5328          28 :     res.message = "not initialized";
+    5329          28 :     res.success = false;
+    5330          28 :     return true;
+    5331          28 :   }
+    5332          28 : 
+    5333             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGoto");
+    5334          56 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGoto", scope_timer_logger_, scope_timer_enabled_);
+    5335             : 
+    5336          28 :   mrs_msgs::ReferenceStamped des_reference;
+    5337          28 :   des_reference.header.frame_id      = "";
+    5338             :   des_reference.header.stamp         = ros::Time(0);
+    5339          28 :   des_reference.reference.position.x = req.goal[REF_X];
+    5340             :   des_reference.reference.position.y = req.goal[REF_Y];
+    5341             :   des_reference.reference.position.z = req.goal[REF_Z];
+    5342             :   des_reference.reference.heading    = req.goal[REF_HEADING];
+    5343             : 
+    5344             :   auto [success, message] = setReference(des_reference);
+    5345             : 
+    5346           0 :   res.success = success;
+    5347             :   res.message = message;
+    5348           0 : 
+    5349           0 :   return true;
+    5350           0 : }
+    5351           0 : 
+    5352             : //}
+    5353             : 
+    5354           0 : /* //{ callbackGotoFcu() */
+    5355           0 : 
+    5356             : bool ControlManager::callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5357           0 : 
+    5358           0 :   if (!is_initialized_) {
+    5359           0 :     res.message = "not initialized";
+    5360           0 :     res.success = false;
+    5361           0 :     return true;
+    5362           0 :   }
+    5363           0 : 
+    5364             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoFcu");
+    5365           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoFcu", scope_timer_logger_, scope_timer_enabled_);
+    5366             : 
+    5367           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5368           0 :   des_reference.header.frame_id      = "fcu_untilted";
+    5369             :   des_reference.header.stamp         = ros::Time(0);
+    5370           0 :   des_reference.reference.position.x = req.goal[REF_X];
+    5371             :   des_reference.reference.position.y = req.goal[REF_Y];
+    5372             :   des_reference.reference.position.z = req.goal[REF_Z];
+    5373             :   des_reference.reference.heading    = req.goal[REF_HEADING];
+    5374             : 
+    5375             :   auto [success, message] = setReference(des_reference);
+    5376             : 
+    5377           2 :   res.success = success;
+    5378             :   res.message = message;
+    5379           2 : 
+    5380           0 :   return true;
+    5381           0 : }
+    5382           0 : 
+    5383             : //}
+    5384             : 
+    5385           6 : /* //{ callbackGotoRelative() */
+    5386           6 : 
+    5387             : bool ControlManager::callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5388           4 : 
+    5389             :   if (!is_initialized_) {
+    5390           2 :     res.message = "not initialized";
+    5391           0 :     res.success = false;
+    5392           0 :     return true;
+    5393           0 :   }
+    5394             : 
+    5395             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoRelative");
+    5396           4 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoRelative", scope_timer_logger_, scope_timer_enabled_);
+    5397           2 : 
+    5398           2 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5399           2 : 
+    5400           2 :   if (!last_tracker_cmd) {
+    5401           2 :     res.message = "not flying";
+    5402           2 :     res.success = false;
+    5403             :     return true;
+    5404           4 :   }
+    5405             : 
+    5406           2 :   mrs_msgs::ReferenceStamped des_reference;
+    5407           2 :   des_reference.header.frame_id      = "";
+    5408             :   des_reference.header.stamp         = ros::Time(0);
+    5409           2 :   des_reference.reference.position.x = last_tracker_cmd->position.x + req.goal[REF_X];
+    5410             :   des_reference.reference.position.y = last_tracker_cmd->position.y + req.goal[REF_Y];
+    5411             :   des_reference.reference.position.z = last_tracker_cmd->position.z + req.goal[REF_Z];
+    5412             :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal[REF_HEADING];
+    5413             : 
+    5414             :   auto [success, message] = setReference(des_reference);
+    5415             : 
+    5416           0 :   res.success = success;
+    5417             :   res.message = message;
+    5418           0 : 
+    5419           0 :   return true;
+    5420           0 : }
+    5421           0 : 
+    5422             : //}
+    5423             : 
+    5424           0 : /* //{ callbackGotoAltitude() */
+    5425           0 : 
+    5426             : bool ControlManager::callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5427           0 : 
+    5428             :   if (!is_initialized_) {
+    5429           0 :     res.message = "not initialized";
+    5430           0 :     res.success = false;
+    5431           0 :     return true;
+    5432           0 :   }
+    5433             : 
+    5434             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoAltitude");
+    5435           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoAltitude", scope_timer_logger_, scope_timer_enabled_);
+    5436           0 : 
+    5437           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5438           0 : 
+    5439           0 :   if (!last_tracker_cmd) {
+    5440           0 :     res.message = "not flying";
+    5441           0 :     res.success = false;
+    5442             :     return true;
+    5443           0 :   }
+    5444             : 
+    5445           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5446           0 :   des_reference.header.frame_id      = "";
+    5447             :   des_reference.header.stamp         = ros::Time(0);
+    5448           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5449             :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5450             :   des_reference.reference.position.z = req.goal;
+    5451             :   des_reference.reference.heading    = last_tracker_cmd->heading;
+    5452             : 
+    5453             :   auto [success, message] = setReference(des_reference);
+    5454             : 
+    5455           0 :   res.success = success;
+    5456             :   res.message = message;
+    5457           0 : 
+    5458           0 :   return true;
+    5459           0 : }
+    5460           0 : 
+    5461             : //}
+    5462             : 
+    5463           0 : /* //{ callbackSetHeading() */
+    5464           0 : 
+    5465             : bool ControlManager::callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5466           0 : 
+    5467             :   if (!is_initialized_) {
+    5468           0 :     res.message = "not initialized";
+    5469           0 :     res.success = false;
+    5470           0 :     return true;
+    5471           0 :   }
+    5472             : 
+    5473             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeading");
+    5474           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeading", scope_timer_logger_, scope_timer_enabled_);
+    5475           0 : 
+    5476           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5477           0 : 
+    5478           0 :   if (!last_tracker_cmd) {
+    5479           0 :     res.message = "not flying";
+    5480           0 :     res.success = false;
+    5481             :     return true;
+    5482           0 :   }
+    5483             : 
+    5484           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5485           0 :   des_reference.header.frame_id      = "";
+    5486             :   des_reference.header.stamp         = ros::Time(0);
+    5487           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5488             :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5489             :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5490             :   des_reference.reference.heading    = req.goal;
+    5491             : 
+    5492             :   auto [success, message] = setReference(des_reference);
+    5493             : 
+    5494           0 :   res.success = success;
+    5495             :   res.message = message;
+    5496           0 : 
+    5497           0 :   return true;
+    5498           0 : }
+    5499           0 : 
+    5500             : //}
+    5501             : 
+    5502           0 : /* //{ callbackSetHeadingRelative() */
+    5503           0 : 
+    5504             : bool ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5505           0 : 
+    5506             :   if (!is_initialized_) {
+    5507           0 :     res.message = "not initialized";
+    5508           0 :     res.success = false;
+    5509           0 :     return true;
+    5510           0 :   }
+    5511             : 
+    5512             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeadingRelative");
+    5513           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeadingRelative", scope_timer_logger_, scope_timer_enabled_);
+    5514           0 : 
+    5515           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5516           0 : 
+    5517           0 :   if (!last_tracker_cmd) {
+    5518           0 :     res.message = "not flying";
+    5519           0 :     res.success = false;
+    5520             :     return true;
+    5521           0 :   }
+    5522             : 
+    5523           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5524           0 :   des_reference.header.frame_id      = "";
+    5525             :   des_reference.header.stamp         = ros::Time(0);
+    5526           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5527             :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5528             :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5529             :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal;
+    5530             : 
+    5531             :   auto [success, message] = setReference(des_reference);
+    5532             : 
+    5533             :   res.success = success;
+    5534             :   res.message = message;
+    5535             : 
+    5536             :   return true;
+    5537          30 : }
+    5538             : 
+    5539          60 : //}
+    5540             : 
+    5541          30 : // --------------------------------------------------------------
+    5542           0 : // |                          routines                          |
+    5543           0 : // --------------------------------------------------------------
+    5544           0 : 
+    5545             : /* setReference() //{ */
+    5546             : 
+    5547          30 : std::tuple<bool, std::string> ControlManager::setReference(const mrs_msgs::ReferenceStamped reference_in) {
+    5548           0 : 
+    5549           0 :   std::stringstream ss;
+    5550           0 : 
+    5551             :   if (!callbacks_enabled_) {
+    5552             :     ss << "can not set the reference, the callbacks are disabled";
+    5553             :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5554          60 :     return std::tuple(false, ss.str());
+    5555          60 :   }
+    5556             : 
+    5557             :   if (!validateReference(reference_in.reference, "ControlManager", "reference")) {
+    5558          60 :     ss << "incoming reference is not finite!!!";
+    5559             :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5560          30 :     return std::tuple(false, ss.str());
+    5561             :   }
+    5562           0 : 
+    5563           0 :   // copy member variables
+    5564           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5565             :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5566             : 
+    5567          60 :   // transform the reference to the current frame
+    5568             :   auto ret = transformer_->transformSingle(reference_in, uav_state.header.frame_id);
+    5569             : 
+    5570          30 :   if (!ret) {
+    5571           0 : 
+    5572           0 :     ss << "the reference could not be transformed";
+    5573           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5574             :     return std::tuple(false, ss.str());
+    5575             :   }
+    5576          30 : 
+    5577             :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5578          30 : 
+    5579          30 :   // safety area check
+    5580          30 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5581          30 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5582          30 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5583             :     return std::tuple(false, ss.str());
+    5584          30 :   }
+    5585           0 : 
+    5586           0 :   if (last_tracker_cmd) {
+    5587           0 : 
+    5588             :     mrs_msgs::ReferenceStamped from_point;
+    5589             :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5590             :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5591          30 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5592             :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5593             : 
+    5594          30 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5595          30 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5596             :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5597             :       return std::tuple(false, ss.str());
+    5598          60 :     }
+    5599             :   }
+    5600          90 : 
+    5601          90 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    5602             : 
+    5603          30 :   // prepare the message for current tracker
+    5604             :   mrs_msgs::ReferenceSrvRequest reference_request;
+    5605          60 :   reference_request.reference = transformed_reference.reference;
+    5606             : 
+    5607             :   {
+    5608             :     std::scoped_lock lock(mutex_tracker_list_);
+    5609           0 : 
+    5610           0 :     tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    5611           0 :         mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(reference_request)));
+    5612             : 
+    5613             :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    5614             : 
+    5615             :       return std::tuple(tracker_response->success, tracker_response->message);
+    5616             : 
+    5617             :     } else {
+    5618             : 
+    5619             :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setReference()' function!";
+    5620           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the reference: " << ss.str());
+    5621             :       return std::tuple(false, ss.str());
+    5622           0 :     }
+    5623             :   }
+    5624           0 : }
+    5625           0 : 
+    5626           0 : //}
+    5627           0 : 
+    5628             : /* setVelocityReference() //{ */
+    5629             : 
+    5630           0 : std::tuple<bool, std::string> ControlManager::setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in) {
+    5631           0 : 
+    5632           0 :   std::stringstream ss;
+    5633           0 : 
+    5634             :   if (!callbacks_enabled_) {
+    5635             :     ss << "can not set the reference, the callbacks are disabled";
+    5636             :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5637           0 :     return std::tuple(false, ss.str());
+    5638             :   }
+    5639           0 : 
+    5640           0 :   if (!validateVelocityReference(reference_in.reference, "ControlManager", "velocity_reference")) {
+    5641           0 :     ss << "velocity command is not valid!";
+    5642           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5643             :     return std::tuple(false, ss.str());
+    5644             :   }
+    5645             : 
+    5646             :   {
+    5647           0 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    5648           0 : 
+    5649             :     if (!last_tracker_cmd_) {
+    5650             :       ss << "could not set velocity command, not flying!";
+    5651             :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5652           0 :       return std::tuple(false, ss.str());
+    5653             :     }
+    5654           0 :   }
+    5655             : 
+    5656           0 :   // copy member variables
+    5657             :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5658           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5659           0 : 
+    5660           0 :   // | -- transform the velocity reference to the current frame - |
+    5661           0 : 
+    5662             :   mrs_msgs::VelocityReferenceStamped transformed_reference = reference_in;
+    5663           0 : 
+    5664             :   auto ret = transformer_->getTransform(reference_in.header.frame_id, uav_state.header.frame_id, reference_in.header.stamp);
+    5665             : 
+    5666             :   geometry_msgs::TransformStamped tf;
+    5667             : 
+    5668           0 :   if (!ret) {
+    5669           0 :     ss << "could not find tf from " << reference_in.header.frame_id << " to " << uav_state.header.frame_id;
+    5670           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5671           0 :     return std::tuple(false, ss.str());
+    5672           0 :   } else {
+    5673             :     tf = ret.value();
+    5674           0 :   }
+    5675             : 
+    5676           0 :   // transform the velocity
+    5677             :   {
+    5678           0 :     geometry_msgs::Vector3Stamped velocity;
+    5679           0 :     velocity.header   = reference_in.header;
+    5680           0 :     velocity.vector.x = reference_in.reference.velocity.x;
+    5681             :     velocity.vector.y = reference_in.reference.velocity.y;
+    5682             :     velocity.vector.z = reference_in.reference.velocity.z;
+    5683           0 : 
+    5684           0 :     auto ret = transformer_->transform(velocity, tf);
+    5685           0 : 
+    5686             :     if (!ret) {
+    5687             : 
+    5688             :       ss << "the velocity reference could not be transformed";
+    5689             :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5690             :       return std::tuple(false, ss.str());
+    5691           0 : 
+    5692           0 :     } else {
+    5693           0 :       transformed_reference.reference.velocity.x = ret->vector.x;
+    5694           0 :       transformed_reference.reference.velocity.y = ret->vector.y;
+    5695           0 :       transformed_reference.reference.velocity.z = ret->vector.z;
+    5696           0 :     }
+    5697             :   }
+    5698           0 : 
+    5699             :   // transform the z and the heading
+    5700           0 :   {
+    5701             :     geometry_msgs::PoseStamped pose;
+    5702           0 :     pose.header           = reference_in.header;
+    5703           0 :     pose.pose.position.x  = 0;
+    5704           0 :     pose.pose.position.y  = 0;
+    5705             :     pose.pose.position.z  = reference_in.reference.altitude;
+    5706             :     pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, reference_in.reference.heading);
+    5707           0 : 
+    5708           0 :     auto ret = transformer_->transform(pose, tf);
+    5709             : 
+    5710             :     if (!ret) {
+    5711             : 
+    5712             :       ss << "the velocity reference could not be transformed";
+    5713           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5714             :       return std::tuple(false, ss.str());
+    5715           0 : 
+    5716           0 :     } else {
+    5717             :       transformed_reference.reference.altitude = ret->pose.position.z;
+    5718           0 :       transformed_reference.reference.heading  = mrs_lib::AttitudeConverter(ret->pose.orientation).getHeading();
+    5719             :     }
+    5720           0 :   }
+    5721             : 
+    5722             :   // the heading rate doees not need to be transformed
+    5723             :   transformed_reference.reference.heading_rate = reference_in.reference.heading_rate;
+    5724           0 : 
+    5725           0 :   transformed_reference.header.stamp    = tf.header.stamp;
+    5726           0 :   transformed_reference.header.frame_id = transformer_->frame_to(tf);
+    5727           0 : 
+    5728             :   mrs_msgs::ReferenceStamped eqivalent_reference = velocityReferenceToReference(transformed_reference);
+    5729             : 
+    5730           0 :   ROS_DEBUG("[ControlManager]: equivalent reference: %.2f, %.2f, %.2f, %.2f", eqivalent_reference.reference.position.x,
+    5731             :             eqivalent_reference.reference.position.y, eqivalent_reference.reference.position.z, eqivalent_reference.reference.heading);
+    5732           0 : 
+    5733           0 :   // safety area check
+    5734           0 :   if (!isPointInSafetyArea3d(eqivalent_reference)) {
+    5735           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5736           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5737             :     return std::tuple(false, ss.str());
+    5738           0 :   }
+    5739           0 : 
+    5740           0 :   if (last_tracker_cmd) {
+    5741           0 : 
+    5742             :     mrs_msgs::ReferenceStamped from_point;
+    5743             :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5744             :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5745           0 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5746             :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5747             : 
+    5748           0 :     if (!isPathToPointInSafetyArea3d(from_point, eqivalent_reference)) {
+    5749           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5750             :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5751             :       return std::tuple(false, ss.str());
+    5752           0 :     }
+    5753             :   }
+    5754           0 : 
+    5755           0 :   mrs_msgs::VelocityReferenceSrvResponse::ConstPtr tracker_response;
+    5756             : 
+    5757           0 :   // prepare the message for current tracker
+    5758             :   mrs_msgs::VelocityReferenceSrvRequest reference_request;
+    5759           0 :   reference_request.reference = transformed_reference.reference;
+    5760             : 
+    5761             :   {
+    5762             :     std::scoped_lock lock(mutex_tracker_list_);
+    5763           0 : 
+    5764           0 :     tracker_response = tracker_list_[active_tracker_idx_]->setVelocityReference(
+    5765           0 :         mrs_msgs::VelocityReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::VelocityReferenceSrvRequest>(reference_request)));
+    5766             : 
+    5767             :     if (tracker_response != mrs_msgs::VelocityReferenceSrvResponse::Ptr()) {
+    5768             : 
+    5769             :       return std::tuple(tracker_response->success, tracker_response->message);
+    5770             : 
+    5771             :     } else {
+    5772             : 
+    5773             :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setVelocityReference()' function!";
+    5774           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the velocity reference: " << ss.str());
+    5775             :       return std::tuple(false, ss.str());
+    5776             :     }
+    5777           2 :   }
+    5778           2 : }
+    5779             : 
+    5780           2 : //}
+    5781             : 
+    5782           1 : /* setTrajectoryReference() //{ */
+    5783           0 : 
+    5784           0 : std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> ControlManager::setTrajectoryReference(
+    5785           0 :     const mrs_msgs::TrajectoryReference trajectory_in) {
+    5786             : 
+    5787             :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5788             :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5789             : 
+    5790             :   std::stringstream ss;
+    5791           1 : 
+    5792             :   if (!callbacks_enabled_) {
+    5793           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5794           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5795           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5796             :   }
+    5797             : 
+    5798          41 :   /* validate the size and check for NaNs //{ */
+    5799             : 
+    5800             :   // check for the size 0, which is invalid
+    5801          40 :   if (trajectory_in.points.size() == 0) {
+    5802             : 
+    5803          40 :     ss << "can not load trajectory with size 0";
+    5804             :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5805           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5806           0 :   }
+    5807           0 : 
+    5808             :   for (int i = 0; i < int(trajectory_in.points.size()); i++) {
+    5809             : 
+    5810             :     // check the point for NaN/inf
+    5811             :     bool valid = validateReference(trajectory_in.points[i], "ControlManager", "trajectory_in.points[]");
+    5812             : 
+    5813             :     if (!valid) {
+    5814             : 
+    5815             :       ss << "trajectory contains NaNs/infs.";
+    5816             :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5817           2 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5818           1 :     }
+    5819             :   }
+    5820           1 : 
+    5821             :   //}
+    5822           1 : 
+    5823           1 :   /* publish the debugging topics of the original trajectory //{ */
+    5824             : 
+    5825             :   {
+    5826          40 : 
+    5827             :     geometry_msgs::PoseArray debug_trajectory_out;
+    5828          39 :     debug_trajectory_out.header = trajectory_in.header;
+    5829             : 
+    5830          39 :     debug_trajectory_out.header.frame_id = transformer_->resolveFrame(debug_trajectory_out.header.frame_id);
+    5831          39 : 
+    5832          39 :     if (debug_trajectory_out.header.stamp == ros::Time(0)) {
+    5833             :       debug_trajectory_out.header.stamp = ros::Time::now();
+    5834          39 :     }
+    5835             : 
+    5836          39 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5837             : 
+    5838             :       geometry_msgs::Pose new_pose;
+    5839           1 : 
+    5840             :       new_pose.position.x = trajectory_in.points[i].position.x;
+    5841           2 :       new_pose.position.y = trajectory_in.points[i].position.y;
+    5842             :       new_pose.position.z = trajectory_in.points[i].position.z;
+    5843           2 : 
+    5844             :       new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, trajectory_in.points[i].heading);
+    5845           1 : 
+    5846             :       debug_trajectory_out.poses.push_back(new_pose);
+    5847           1 :     }
+    5848             : 
+    5849           1 :     pub_debug_original_trajectory_poses_.publish(debug_trajectory_out);
+    5850           0 : 
+    5851             :     visualization_msgs::MarkerArray msg_out;
+    5852             : 
+    5853           1 :     visualization_msgs::Marker marker;
+    5854           1 : 
+    5855             :     marker.header = trajectory_in.header;
+    5856             : 
+    5857           1 :     marker.header.frame_id = transformer_->resolveFrame(marker.header.frame_id);
+    5858           1 : 
+    5859           1 :     if (marker.header.frame_id == "") {
+    5860           1 :       marker.header.frame_id = uav_state.header.frame_id;
+    5861           1 :     }
+    5862           1 : 
+    5863           1 :     if (marker.header.stamp == ros::Time(0)) {
+    5864             :       marker.header.stamp = ros::Time::now();
+    5865          40 :     }
+    5866             : 
+    5867          39 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    5868             :     marker.color.a          = 1;
+    5869          39 :     marker.scale.x          = 0.05;
+    5870          39 :     marker.color.r          = 0;
+    5871          39 :     marker.color.g          = 1;
+    5872             :     marker.color.b          = 0;
+    5873          39 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    5874             : 
+    5875          39 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5876             : 
+    5877          39 :       geometry_msgs::Point point1;
+    5878          39 : 
+    5879          39 :       point1.x = trajectory_in.points[i].position.x;
+    5880             :       point1.y = trajectory_in.points[i].position.y;
+    5881          39 :       point1.z = trajectory_in.points[i].position.z;
+    5882             : 
+    5883             :       marker.points.push_back(point1);
+    5884           1 : 
+    5885             :       geometry_msgs::Point point2;
+    5886           1 : 
+    5887             :       point2.x = trajectory_in.points[i + 1].position.x;
+    5888             :       point2.y = trajectory_in.points[i + 1].position.y;
+    5889             :       point2.z = trajectory_in.points[i + 1].position.z;
+    5890             : 
+    5891           2 :       marker.points.push_back(point2);
+    5892             :     }
+    5893           1 : 
+    5894             :     msg_out.markers.push_back(marker);
+    5895           1 : 
+    5896             :     pub_debug_original_trajectory_markers_.publish(msg_out);
+    5897             :   }
+    5898             : 
+    5899           1 :   //}
+    5900             : 
+    5901           1 :   mrs_msgs::TrajectoryReference processed_trajectory = trajectory_in;
+    5902           1 : 
+    5903             :   int trajectory_size = int(processed_trajectory.points.size());
+    5904           1 : 
+    5905           1 :   bool trajectory_modified = false;
+    5906             : 
+    5907          41 :   /* safety area check //{ */
+    5908             : 
+    5909          40 :   if (use_safety_area_) {
+    5910             : 
+    5911             :     int last_valid_idx    = 0;
+    5912           0 :     int first_invalid_idx = -1;
+    5913             : 
+    5914           0 :     double min_z = getMinZ(processed_trajectory.header.frame_id);
+    5915           0 :     double max_z = getMaxZ(processed_trajectory.header.frame_id);
+    5916           0 : 
+    5917             :     for (int i = 0; i < trajectory_size; i++) {
+    5918             : 
+    5919           0 :       if (_snap_trajectory_to_safety_area_) {
+    5920             : 
+    5921           0 :         // saturate the trajectory to min and max Z
+    5922           0 :         if (processed_trajectory.points[i].position.z < min_z) {
+    5923           0 : 
+    5924             :           processed_trajectory.points[i].position.z = min_z;
+    5925             :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the minimum Z!");
+    5926             :           trajectory_modified = true;
+    5927             :         }
+    5928          40 : 
+    5929          40 :         if (processed_trajectory.points[i].position.z > max_z) {
+    5930          40 : 
+    5931             :           processed_trajectory.points[i].position.z = max_z;
+    5932          40 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the maximum Z!");
+    5933             :           trajectory_modified = true;
+    5934           0 :         }
+    5935           0 :       }
+    5936             : 
+    5937             :       // check the point against the safety area
+    5938           0 :       mrs_msgs::ReferenceStamped des_reference;
+    5939             :       des_reference.header    = processed_trajectory.header;
+    5940           0 :       des_reference.reference = processed_trajectory.points[i];
+    5941             : 
+    5942           0 :       if (!isPointInSafetyArea3d(des_reference)) {
+    5943             : 
+    5944             :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory contains points outside of the safety area!");
+    5945             :         trajectory_modified = true;
+    5946             : 
+    5947             :         // the first invalid point
+    5948             :         if (first_invalid_idx == -1) {
+    5949          40 : 
+    5950             :           first_invalid_idx = i;
+    5951             : 
+    5952           0 :           last_valid_idx = i - 1;
+    5953             :         }
+    5954           0 : 
+    5955           0 :         // the point is ok
+    5956           0 :       } else {
+    5957             : 
+    5958             :         // we found a point, which is ok, after finding a point which was not ok
+    5959             :         if (first_invalid_idx != -1) {
+    5960             : 
+    5961           0 :           // special case, we had no valid point so far
+    5962           0 :           if (last_valid_idx == -1) {
+    5963             : 
+    5964             :             ss << "the trajectory starts outside of the safety area!";
+    5965           0 :             ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5966             :             return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5967             : 
+    5968           0 :             // we have a valid point in the past
+    5969           0 :           } else {
+    5970             : 
+    5971             :             if (!_snap_trajectory_to_safety_area_) {
+    5972           0 :               break;
+    5973           0 :             }
+    5974           0 : 
+    5975             :             bool interpolation_success = true;
+    5976           0 : 
+    5977             :             // iterpolate between the last valid point and this new valid point
+    5978           0 :             double angle = atan2((processed_trajectory.points[i].position.y - processed_trajectory.points[last_valid_idx].position.y),
+    5979           0 :                                  (processed_trajectory.points[i].position.x - processed_trajectory.points[last_valid_idx].position.x));
+    5980           0 : 
+    5981           0 :             double dist_two_points =
+    5982             :                 mrs_lib::geometry::dist(vec2_t(processed_trajectory.points[i].position.x, processed_trajectory.points[i].position.y),
+    5983           0 :                                         vec2_t(processed_trajectory.points[last_valid_idx].position.x, processed_trajectory.points[last_valid_idx].position.y));
+    5984             :             double step = dist_two_points / (i - last_valid_idx);
+    5985           0 : 
+    5986           0 :             for (int j = last_valid_idx; j < i; j++) {
+    5987             : 
+    5988             :               mrs_msgs::ReferenceStamped temp_point;
+    5989             :               temp_point.header.frame_id      = processed_trajectory.header.frame_id;
+    5990           0 :               temp_point.reference.position.x = processed_trajectory.points[last_valid_idx].position.x + (j - last_valid_idx) * cos(angle) * step;
+    5991           0 :               temp_point.reference.position.y = processed_trajectory.points[last_valid_idx].position.y + (j - last_valid_idx) * sin(angle) * step;
+    5992             : 
+    5993             :               if (!isPointInSafetyArea2d(temp_point)) {
+    5994             : 
+    5995           0 :                 interpolation_success = false;
+    5996           0 :                 break;
+    5997             : 
+    5998             :               } else {
+    5999             : 
+    6000           0 :                 processed_trajectory.points[j].position.x = temp_point.reference.position.x;
+    6001             :                 processed_trajectory.points[j].position.y = temp_point.reference.position.y;
+    6002             :               }
+    6003             :             }
+    6004             : 
+    6005             :             if (!interpolation_success) {
+    6006           1 :               break;
+    6007             :             }
+    6008             :           }
+    6009           0 : 
+    6010             :           first_invalid_idx = -1;
+    6011           0 :         }
+    6012           0 :       }
+    6013           0 :     }
+    6014             : 
+    6015             :     // special case, the trajectory does not end with a valid point
+    6016             :     if (first_invalid_idx != -1) {
+    6017             : 
+    6018           0 :       // super special case, the whole trajectory is invalid
+    6019           0 :       if (first_invalid_idx == 0) {
+    6020           0 : 
+    6021             :         ss << "the whole trajectory is outside of the safety area!";
+    6022             :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6023             :         return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6024             : 
+    6025           1 :         // there is a good portion of the trajectory in the beginning
+    6026             :       } else {
+    6027           0 : 
+    6028           0 :         trajectory_size = last_valid_idx + 1;
+    6029           0 :         processed_trajectory.points.resize(trajectory_size);
+    6030             :         trajectory_modified = true;
+    6031             :       }
+    6032             :     }
+    6033             :   }
+    6034             : 
+    6035             :   if (trajectory_size == 0) {
+    6036           1 : 
+    6037             :     ss << "the trajectory happened to be empty after all the checks! This message should not appear!";
+    6038           1 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6039           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6040             :   }
+    6041           1 : 
+    6042             :   //}
+    6043             : 
+    6044           1 :   /* transform the trajectory to the current control frame //{ */
+    6045           0 : 
+    6046           0 :   std::optional<geometry_msgs::TransformStamped> tf_traj_state;
+    6047           0 : 
+    6048             :   if (processed_trajectory.header.stamp > ros::Time::now()) {
+    6049             :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", processed_trajectory.header.stamp);
+    6050           1 :   } else {
+    6051             :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", uav_state_.header.stamp);
+    6052          41 :   }
+    6053             : 
+    6054          40 :   if (!tf_traj_state) {
+    6055          40 :     ss << "could not create TF transformer for the trajectory";
+    6056          40 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6057             :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6058          40 :   }
+    6059             : 
+    6060          40 :   processed_trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    6061             : 
+    6062           0 :   for (int i = 0; i < trajectory_size; i++) {
+    6063           0 : 
+    6064           0 :     mrs_msgs::ReferenceStamped trajectory_point;
+    6065             :     trajectory_point.header    = processed_trajectory.header;
+    6066             :     trajectory_point.reference = processed_trajectory.points[i];
+    6067             : 
+    6068             :     auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    6069          40 : 
+    6070             :     if (!ret) {
+    6071             : 
+    6072             :       ss << "trajectory cannnot be transformed";
+    6073             :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6074             :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6075           1 : 
+    6076           2 :     } else {
+    6077             : 
+    6078             :       // transform the points in the trajectory to the current frame
+    6079           1 :       processed_trajectory.points[i] = ret.value().reference;
+    6080           0 :     }
+    6081           0 :   }
+    6082           0 : 
+    6083             :   //}
+    6084             : 
+    6085             :   mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr response;
+    6086           1 :   mrs_msgs::TrajectoryReferenceSrvRequest            request;
+    6087             : 
+    6088             :   // check for empty trajectory
+    6089           2 :   if (processed_trajectory.points.size() == 0) {
+    6090             :     ss << "reference trajectory was processing and it is now empty, this should not happen!";
+    6091           2 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6092           2 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6093           2 :   }
+    6094             : 
+    6095             :   // prepare the message for current tracker
+    6096           2 :   request.trajectory = processed_trajectory;
+    6097             : 
+    6098             :   bool                     success;
+    6099           3 :   std::string              message;
+    6100           3 :   bool                     modified;
+    6101             :   std::vector<std::string> tracker_names;
+    6102           1 :   std::vector<bool>        tracker_successes;
+    6103             :   std::vector<std::string> tracker_messages;
+    6104           1 : 
+    6105             :   {
+    6106           1 :     std::scoped_lock lock(mutex_tracker_list_);
+    6107           1 : 
+    6108           1 :     // set the trajectory to the currently active tracker
+    6109           1 :     response = tracker_list_[active_tracker_idx_]->setTrajectoryReference(
+    6110           1 :         mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6111             : 
+    6112             :     tracker_names.push_back(_tracker_names_[active_tracker_idx_]);
+    6113             : 
+    6114           0 :     if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6115           0 : 
+    6116             :       success  = response->success;
+    6117           0 :       message  = response->message;
+    6118           0 :       modified = response->modified || trajectory_modified;
+    6119           0 :       tracker_successes.push_back(response->success);
+    6120           0 :       tracker_messages.push_back(response->message);
+    6121           0 : 
+    6122             :     } else {
+    6123             : 
+    6124             :       ss << "the active tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setTrajectoryReference()' function!";
+    6125           7 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the trajectory: " << ss.str());
+    6126             : 
+    6127           6 :       success  = false;
+    6128             :       message  = ss.str();
+    6129           5 :       modified = false;
+    6130             :       tracker_successes.push_back(false);
+    6131          15 :       tracker_messages.push_back(ss.str());
+    6132          15 :     }
+    6133             : 
+    6134           5 :     // set the trajectory to the non-active trackers
+    6135             :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    6136           0 : 
+    6137           0 :       if (i != active_tracker_idx_) {
+    6138             : 
+    6139           0 :         tracker_names.push_back(_tracker_names_[i]);
+    6140           0 : 
+    6141           0 :         response = tracker_list_[i]->setTrajectoryReference(
+    6142           0 :             mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6143             : 
+    6144             :         if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6145             : 
+    6146             :           tracker_successes.push_back(response->success);
+    6147           5 :           tracker_messages.push_back(response->message);
+    6148           5 : 
+    6149           5 :           if (response->success) {
+    6150           5 :             std::stringstream ss;
+    6151             :             ss << "trajectory loaded to non-active tracker '" << _tracker_names_[i];
+    6152             :             ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6153             :           }
+    6154             : 
+    6155             :         } else {
+    6156           1 : 
+    6157             :           std::stringstream ss;
+    6158             :           ss << "the tracker \"" << _tracker_names_[i] << "\" does not implement setTrajectoryReference()";
+    6159             :           tracker_successes.push_back(false);
+    6160             :           tracker_messages.push_back(ss.str());
+    6161             :         }
+    6162             :       }
+    6163           6 :     }
+    6164             :   }
+    6165           6 : 
+    6166           0 :   return std::tuple(success, message, modified, tracker_names, tracker_successes, tracker_messages);
+    6167             : }
+    6168             : 
+    6169           6 : //}
+    6170             : 
+    6171           6 : /* isOffboard() //{ */
+    6172             : 
+    6173             : bool ControlManager::isOffboard(void) {
+    6174             : 
+    6175             :   if (!sh_hw_api_status_.hasMsg()) {
+    6176             :     return false;
+    6177             :   }
+    6178           2 : 
+    6179             :   mrs_msgs::HwApiStatusConstPtr hw_api_status = sh_hw_api_status_.getMsg();
+    6180           2 : 
+    6181             :   return hw_api_status->connected && hw_api_status->offboard;
+    6182           2 : }
+    6183           2 : 
+    6184             : //}
+    6185             : 
+    6186           4 : /* setCallbacks() //{ */
+    6187             : 
+    6188             : void ControlManager::setCallbacks(bool in) {
+    6189          14 : 
+    6190          12 :   callbacks_enabled_ = in;
+    6191             : 
+    6192             :   std_srvs::SetBoolRequest req_enable_callbacks;
+    6193           2 :   req_enable_callbacks.data = callbacks_enabled_;
+    6194             : 
+    6195             :   {
+    6196             :     std::scoped_lock lock(mutex_tracker_list_);
+    6197             : 
+    6198             :     // set callbacks to all trackers
+    6199        4811 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6200             :       tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6201        4811 :     }
+    6202           0 :   }
+    6203             : }
+    6204             : 
+    6205       14433 : //}
+    6206       14433 : 
+    6207             : /* publishDiagnostics() //{ */
+    6208        9622 : 
+    6209             : void ControlManager::publishDiagnostics(void) {
+    6210        9622 : 
+    6211             :   if (!is_initialized_) {
+    6212        4811 :     return;
+    6213        4811 :   }
+    6214             : 
+    6215        4811 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publishDiagnostics");
+    6216             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publishDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    6217        4811 : 
+    6218             :   std::scoped_lock lock(mutex_diagnostics_);
+    6219        4811 : 
+    6220             :   mrs_msgs::ControlManagerDiagnostics diagnostics_msg;
+    6221             : 
+    6222        4811 :   diagnostics_msg.stamp    = ros::Time::now();
+    6223             :   diagnostics_msg.uav_name = _uav_name_;
+    6224        4811 : 
+    6225             :   diagnostics_msg.desired_uav_state_rate = desired_uav_state_rate_;
+    6226             : 
+    6227             :   diagnostics_msg.output_enabled = output_enabled_;
+    6228             : 
+    6229             :   diagnostics_msg.rc_mode = rc_goto_active_;
+    6230        9622 : 
+    6231             :   {
+    6232        4811 :     std::scoped_lock lock(mutex_tracker_list_, mutex_controller_list_);
+    6233             : 
+    6234        4811 :     diagnostics_msg.flying_normally = isFlyingNormally();
+    6235        4811 :   }
+    6236             : 
+    6237             :   // | ----------------- fill the tracker status ---------------- |
+    6238             : 
+    6239             :   {
+    6240             :     std::scoped_lock lock(mutex_tracker_list_);
+    6241        9622 : 
+    6242             :     mrs_msgs::TrackerStatus tracker_status;
+    6243        4811 : 
+    6244             :     diagnostics_msg.active_tracker = _tracker_names_[active_tracker_idx_];
+    6245        4811 :     diagnostics_msg.tracker_status = tracker_list_[active_tracker_idx_]->getStatus();
+    6246        4811 :   }
+    6247             : 
+    6248             :   // | --------------- fill the controller status --------------- |
+    6249             : 
+    6250             :   {
+    6251       28866 :     std::scoped_lock lock(mutex_controller_list_);
+    6252       24055 : 
+    6253       14433 :     mrs_msgs::ControllerStatus controller_status;
+    6254       14433 : 
+    6255             :     diagnostics_msg.active_controller = _controller_names_[active_controller_idx_];
+    6256             :     diagnostics_msg.controller_status = controller_list_[active_controller_idx_]->getStatus();
+    6257             :   }
+    6258             : 
+    6259             :   // | ------------ fill in the available controllers ----------- |
+    6260       33938 : 
+    6261       29127 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    6262       24316 :     if ((_controller_names_[i] != _failsafe_controller_name_) && (_controller_names_[i] != _eland_controller_name_)) {
+    6263       24316 :       diagnostics_msg.available_controllers.push_back(_controller_names_[i]);
+    6264             :       diagnostics_msg.human_switchable_controllers.push_back(controllers_.at(_controller_names_[i]).human_switchable);
+    6265             :     }
+    6266             :   }
+    6267             : 
+    6268             :   // | ------------- fill in the available trackers ------------- |
+    6269        4811 : 
+    6270             :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    6271             :     if (_tracker_names_[i] != _null_tracker_name_) {
+    6272             :       diagnostics_msg.available_trackers.push_back(_tracker_names_[i]);
+    6273             :       diagnostics_msg.human_switchable_trackers.push_back(trackers_.at(_tracker_names_[i]).human_switchable);
+    6274             :     }
+    6275             :   }
+    6276         147 : 
+    6277             :   // | ------------------------- publish ------------------------ |
+    6278         441 : 
+    6279         441 :   ph_diagnostics_.publish(diagnostics_msg);
+    6280             : }
+    6281         147 : 
+    6282             : //}
+    6283             : 
+    6284         294 : /* setConstraintsToTrackers() //{ */
+    6285             : 
+    6286             : void ControlManager::setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6287        1032 : 
+    6288             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToTrackers");
+    6289             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToTrackers", scope_timer_logger_, scope_timer_enabled_);
+    6290        2655 : 
+    6291        2655 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6292             : 
+    6293             :   {
+    6294         147 :     std::scoped_lock lock(mutex_tracker_list_);
+    6295             : 
+    6296             :     // for each tracker
+    6297             :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6298             : 
+    6299             :       // if it is the active one, update and retrieve the command
+    6300         189 :       response = tracker_list_[i]->setConstraints(
+    6301             :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6302         567 :     }
+    6303         567 :   }
+    6304             : }
+    6305         189 : 
+    6306             : //}
+    6307             : 
+    6308         378 : /* setConstraintsToControllers() //{ */
+    6309             : 
+    6310             : void ControlManager::setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6311        1134 : 
+    6312             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToControllers");
+    6313             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToControllers", scope_timer_logger_, scope_timer_enabled_);
+    6314        2835 : 
+    6315        2835 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6316             : 
+    6317             :   {
+    6318         189 :     std::scoped_lock lock(mutex_controller_list_);
+    6319             : 
+    6320             :     // for each controller
+    6321             :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    6322             : 
+    6323             :       // if it is the active one, update and retrieve the command
+    6324          47 :       response = controller_list_[i]->setConstraints(
+    6325             :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6326         141 :     }
+    6327         141 :   }
+    6328             : }
+    6329          47 : 
+    6330             : //}
+    6331          47 : 
+    6332             : /* setConstraints() //{ */
+    6333          47 : 
+    6334          47 : void ControlManager::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6335             : 
+    6336             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraints");
+    6337             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraints", scope_timer_logger_, scope_timer_enabled_);
+    6338             : 
+    6339             :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6340             : 
+    6341       37882 :   setConstraintsToTrackers(constraints);
+    6342             : 
+    6343             :   setConstraintsToControllers(constraints);
+    6344             : }
+    6345       75764 : 
+    6346             : //}
+    6347       37882 : 
+    6348       29612 : 
+    6349             : /* enforceControllerConstraints() //{ */
+    6350             : 
+    6351        8270 : std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> ControlManager::enforceControllersConstraints(
+    6352             :     const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6353        8270 : 
+    6354             :   // copy member variables
+    6355       16540 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6356             : 
+    6357             :   if (!last_control_output.control_output || !last_control_output.diagnostics.controller_enforcing_constraints) {
+    6358        8270 :     return {};
+    6359        6030 :   }
+    6360             : 
+    6361        6030 :   bool enforcing = false;
+    6362             : 
+    6363             :   auto constraints_out = constraints;
+    6364             : 
+    6365        8270 :   std::scoped_lock lock(mutex_tracker_list_);
+    6366        6789 : 
+    6367             :   // enforce horizontal speed
+    6368        6789 :   if (last_control_output.diagnostics.horizontal_speed_constraint < constraints.constraints.horizontal_speed) {
+    6369             :     constraints_out.constraints.horizontal_speed = last_control_output.diagnostics.horizontal_speed_constraint;
+    6370             : 
+    6371             :     enforcing = true;
+    6372        8270 :   }
+    6373        6030 : 
+    6374             :   // enforce horizontal acceleration
+    6375        6030 :   if (last_control_output.diagnostics.horizontal_acc_constraint < constraints.constraints.horizontal_acceleration) {
+    6376             :     constraints_out.constraints.horizontal_acceleration = last_control_output.diagnostics.horizontal_acc_constraint;
+    6377             : 
+    6378             :     enforcing = true;
+    6379        8270 :   }
+    6380           0 : 
+    6381             :   // enforce vertical ascending speed
+    6382           0 :   if (last_control_output.diagnostics.vertical_asc_speed_constraint < constraints.constraints.vertical_ascending_speed) {
+    6383             :     constraints_out.constraints.vertical_ascending_speed = last_control_output.diagnostics.vertical_asc_speed_constraint;
+    6384             : 
+    6385             :     enforcing = true;
+    6386        8270 :   }
+    6387        6030 : 
+    6388             :   // enforce vertical ascending acceleration
+    6389        6030 :   if (last_control_output.diagnostics.vertical_asc_acc_constraint < constraints.constraints.vertical_ascending_acceleration) {
+    6390             :     constraints_out.constraints.vertical_ascending_acceleration = last_control_output.diagnostics.vertical_asc_acc_constraint;
+    6391             : 
+    6392             :     enforcing = true;
+    6393        8270 :   }
+    6394           0 : 
+    6395             :   // enforce vertical descending speed
+    6396           0 :   if (last_control_output.diagnostics.vertical_desc_speed_constraint < constraints.constraints.vertical_descending_speed) {
+    6397             :     constraints_out.constraints.vertical_descending_speed = last_control_output.diagnostics.vertical_desc_speed_constraint;
+    6398             : 
+    6399        8270 :     enforcing = true;
+    6400        6789 :   }
+    6401             : 
+    6402        1481 :   // enforce vertical descending acceleration
+    6403             :   if (last_control_output.diagnostics.vertical_desc_acc_constraint < constraints.constraints.vertical_descending_acceleration) {
+    6404             :     constraints_out.constraints.vertical_descending_acceleration = last_control_output.diagnostics.vertical_desc_acc_constraint;
+    6405             : 
+    6406             :     enforcing = true;
+    6407             :   }
+    6408             : 
+    6409             :   if (enforcing) {
+    6410        4811 :     return {constraints_out};
+    6411             :   } else {
+    6412        8172 :     return {};
+    6413        3281 :   }
+    6414        3477 : }
+    6415        9286 : 
+    6416        6978 : //}
+    6417             : 
+    6418             : /* isFlyingNormally() //{ */
+    6419             : 
+    6420             : bool ControlManager::isFlyingNormally(void) {
+    6421             : 
+    6422             :   return (output_enabled_) && (offboard_mode_) && (armed_) &&
+    6423         247 :          (((active_tracker_idx_ != _ehover_tracker_idx_) && (active_controller_idx_ != _eland_controller_idx_) &&
+    6424             :            (active_controller_idx_ != _failsafe_controller_idx_)) ||
+    6425         494 :           _controller_names_.size() == 1) &&
+    6426             :          (((active_tracker_idx_ != _null_tracker_idx_) && (active_tracker_idx_ != _landoff_tracker_idx_)) || _tracker_names_.size() == 1);
+    6427         247 : }
+    6428           8 : 
+    6429             : //}
+    6430         239 : 
+    6431             : /* //{ getMass() */
+    6432             : 
+    6433             : double ControlManager::getMass(void) {
+    6434             : 
+    6435             :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6436             : 
+    6437             :   if (last_control_output.diagnostics.mass_estimator) {
+    6438           0 :     return _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    6439             :   } else {
+    6440           0 :     return _uav_mass_;
+    6441             :   }
+    6442           0 : }
+    6443             : 
+    6444             : //}
+    6445             : 
+    6446           0 : /* loadConfigFile() //{ */
+    6447           0 : 
+    6448             : bool ControlManager::loadConfigFile(const std::string& file_path, const std::string ns) {
+    6449           0 : 
+    6450           0 :   const std::string name_space = nh_.getNamespace() + "/" + ns;
+    6451           0 : 
+    6452             :   ROS_INFO("[ControlManager]: loading '%s' under the namespace '%s'", file_path.c_str(), name_space.c_str());
+    6453             : 
+    6454             :   // load the user-requested file
+    6455             :   {
+    6456           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    6457           0 :     int         result  = std::system(command.c_str());
+    6458           0 : 
+    6459             :     if (result != 0) {
+    6460           0 :       ROS_ERROR("[ControlManager]: failed to load '%s'", file_path.c_str());
+    6461           0 :       return false;
+    6462           0 :     }
+    6463             :   }
+    6464             : 
+    6465             :   // load the platform config
+    6466             :   if (_platform_config_ != "") {
+    6467           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    6468           0 :     int         result  = std::system(command.c_str());
+    6469           0 : 
+    6470             :     if (result != 0) {
+    6471           0 :       ROS_ERROR("[ControlManager]: failed to load the platform config file '%s'", _platform_config_.c_str());
+    6472           0 :       return false;
+    6473           0 :     }
+    6474             :   }
+    6475             : 
+    6476             :   // load the custom config
+    6477           0 :   if (_custom_config_ != "") {
+    6478             :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    6479             :     int         result  = std::system(command.c_str());
+    6480             : 
+    6481             :     if (result != 0) {
+    6482             :       ROS_ERROR("[ControlManager]: failed to load the custom config file '%s'", _custom_config_.c_str());
+    6483             :       return false;
+    6484             :     }
+    6485             :   }
+    6486         126 : 
+    6487             :   return true;
+    6488         126 : }
+    6489           2 : 
+    6490             : //}
+    6491             : 
+    6492         248 : // | ----------------------- safety area ---------------------- |
+    6493             : 
+    6494         124 : /* //{ isPointInSafetyArea3d() */
+    6495           0 : 
+    6496           0 : bool ControlManager::isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point) {
+    6497             : 
+    6498             :   if (!use_safety_area_) {
+    6499         124 :     return true;
+    6500           0 :   }
+    6501             : 
+    6502             :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6503         124 : 
+    6504           0 :   if (!tfed_horizontal) {
+    6505             :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6506             :     return false;
+    6507         124 :   }
+    6508             : 
+    6509             :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6510             :     return false;
+    6511             :   }
+    6512             : 
+    6513             :   if (point.reference.position.z < getMinZ(point.header.frame_id) || point.reference.position.z > getMaxZ(point.header.frame_id)) {
+    6514        1007 :     return false;
+    6515             :   }
+    6516        1007 : 
+    6517           3 :   return true;
+    6518             : }
+    6519             : 
+    6520        2008 : //}
+    6521             : 
+    6522        1004 : /* //{ isPointInSafetyArea2d() */
+    6523           0 : 
+    6524           0 : bool ControlManager::isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point) {
+    6525             : 
+    6526             :   if (!use_safety_area_) {
+    6527        1004 :     return true;
+    6528           0 :   }
+    6529             : 
+    6530             :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6531        1004 : 
+    6532             :   if (!tfed_horizontal) {
+    6533             :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6534             :     return false;
+    6535             :   }
+    6536             : 
+    6537             :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6538          30 :     return false;
+    6539             :   }
+    6540          30 : 
+    6541           2 :   return true;
+    6542             : }
+    6543             : 
+    6544          28 : //}
+    6545           0 : 
+    6546             : /* //{ isPathToPointInSafetyArea3d() */
+    6547             : 
+    6548          56 : bool ControlManager::isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6549             : 
+    6550             :   if (!use_safety_area_) {
+    6551          28 :     return true;
+    6552             :   }
+    6553          28 : 
+    6554             :   if (!isPointInSafetyArea3d(start) || !isPointInSafetyArea3d(end)) {
+    6555           0 :     return false;
+    6556             :   }
+    6557           0 : 
+    6558             :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6559             : 
+    6560          28 :   {
+    6561             :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6562             : 
+    6563             :     if (!ret) {
+    6564          28 : 
+    6565             :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6566          28 : 
+    6567             :       return false;
+    6568           0 :     }
+    6569             : 
+    6570           0 :     start_transformed = ret.value();
+    6571             :   }
+    6572             : 
+    6573          28 :   {
+    6574             :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6575             : 
+    6576          28 :     if (!ret) {
+    6577          28 : 
+    6578             :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6579             : 
+    6580             :       return false;
+    6581             :     }
+    6582             : 
+    6583             :     end_transformed = ret.value();
+    6584           0 :   }
+    6585           0 : 
+    6586           0 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6587             :                                    end_transformed.reference.position.y);
+    6588             : }
+    6589           0 : 
+    6590             : //}
+    6591           0 : 
+    6592           0 : /* //{ isPathToPointInSafetyArea2d() */
+    6593             : 
+    6594             : bool ControlManager::isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6595             :   if (!use_safety_area_) {
+    6596           0 :     return true;
+    6597             :   }
+    6598           0 : 
+    6599             :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6600           0 : 
+    6601             :   if (!isPointInSafetyArea2d(start) || !isPointInSafetyArea2d(end)) {
+    6602           0 :     return false;
+    6603             :   }
+    6604             : 
+    6605           0 :   {
+    6606             :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6607             : 
+    6608             :     if (!ret) {
+    6609           0 : 
+    6610             :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6611           0 : 
+    6612             :       return false;
+    6613           0 :     }
+    6614             : 
+    6615           0 :     start_transformed = ret.value();
+    6616             :   }
+    6617             : 
+    6618           0 :   {
+    6619             :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6620             : 
+    6621           0 :     if (!ret) {
+    6622           0 : 
+    6623             :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6624             : 
+    6625             :       return false;
+    6626             :     }
+    6627             : 
+    6628             :     end_transformed = ret.value();
+    6629        3471 :   }
+    6630             : 
+    6631             :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6632             :                                    end_transformed.reference.position.y);
+    6633        3471 : }
+    6634             : 
+    6635             : //}
+    6636             : 
+    6637        6942 : /* //{ getMaxZ() */
+    6638             : 
+    6639        3471 : double ControlManager::getMaxZ(const std::string& frame_id) {
+    6640        3471 : 
+    6641        3471 :   // | ------- first, calculate max_z from the safety area ------ |
+    6642        3471 : 
+    6643             :   double safety_area_max_z = std::numeric_limits<float>::max();
+    6644        3471 : 
+    6645             :   {
+    6646        3471 : 
+    6647           0 :     geometry_msgs::PointStamped point;
+    6648             : 
+    6649             :     point.header.frame_id = _safety_area_vertical_frame_;
+    6650        3471 :     point.point.x         = 0;
+    6651             :     point.point.y         = 0;
+    6652             :     point.point.z         = _safety_area_max_z_;
+    6653             : 
+    6654             :     auto ret = transformer_->transformSingle(point, frame_id);
+    6655        3471 : 
+    6656             :     if (!ret) {
+    6657             :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's max_z to '%s'", frame_id.c_str());
+    6658             :     }
+    6659        3471 : 
+    6660             :     safety_area_max_z = ret->point.z;
+    6661        6934 :   }
+    6662             : 
+    6663             :   // | ------------ overwrite from estimation manager ----------- |
+    6664        6934 : 
+    6665        3467 :   double estimation_manager_max_z = std::numeric_limits<float>::max();
+    6666        3467 : 
+    6667        3467 :   {
+    6668        3467 :     // if possible, override it with max z from the estimation manager
+    6669             :     if (sh_max_z_.hasMsg()) {
+    6670        3467 : 
+    6671             :       auto msg = sh_max_z_.getMsg();
+    6672        3467 : 
+    6673           0 :       // transform it into the safety area frame
+    6674             :       geometry_msgs::PointStamped point;
+    6675             :       point.header  = msg->header;
+    6676        3467 :       point.point.x = 0;
+    6677             :       point.point.y = 0;
+    6678             :       point.point.z = msg->value;
+    6679             : 
+    6680        3471 :       auto ret = transformer_->transformSingle(point, frame_id);
+    6681         102 : 
+    6682             :       if (!ret) {
+    6683        3369 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform estimation manager's max_z to the current control frame");
+    6684             :       }
+    6685             : 
+    6686             :       estimation_manager_max_z = ret->point.z;
+    6687             :     }
+    6688             :   }
+    6689             : 
+    6690             :   if (estimation_manager_max_z < safety_area_max_z) {
+    6691       26332 :     return estimation_manager_max_z;
+    6692             :   } else {
+    6693       26332 :     return safety_area_max_z;
+    6694        1948 :   }
+    6695             : }
+    6696             : 
+    6697       48768 : //}
+    6698             : 
+    6699       24384 : /* //{ getMinZ() */
+    6700       24384 : 
+    6701       24384 : double ControlManager::getMinZ(const std::string& frame_id) {
+    6702       24384 : 
+    6703             :   if (!use_safety_area_) {
+    6704       48768 :     return std::numeric_limits<double>::lowest();
+    6705             :   }
+    6706       24384 : 
+    6707           0 :   geometry_msgs::PointStamped point;
+    6708           0 : 
+    6709             :   point.header.frame_id = _safety_area_vertical_frame_;
+    6710             :   point.point.x         = 0;
+    6711       24384 :   point.point.y         = 0;
+    6712             :   point.point.z         = _safety_area_min_z_;
+    6713             : 
+    6714             :   auto ret = transformer_->transformSingle(point, frame_id);
+    6715             : 
+    6716             :   if (!ret) {
+    6717             :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's min_z to '%s'", frame_id.c_str());
+    6718             :     return std::numeric_limits<double>::lowest();
+    6719             :   }
+    6720           0 : 
+    6721           0 :   return ret->point.z;
+    6722           0 : }
+    6723             : 
+    6724             : //}
+    6725           0 : 
+    6726           0 : // | --------------------- obstacle bumper -------------------- |
+    6727             : 
+    6728             : /* bumperPushFromObstacle() //{ */
+    6729             : 
+    6730           0 : bool ControlManager::bumperPushFromObstacle(void) {
+    6731           0 :   if (!bumper_enabled_) {
+    6732             :     return true;
+    6733           0 :   }
+    6734             : 
+    6735           0 :   if (!sh_bumper_.hasMsg()) {
+    6736           0 :     return true;
+    6737           0 :   }
+    6738             : 
+    6739           0 :   // copy member variables
+    6740             :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    6741           0 :   auto                              uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    6742             : 
+    6743           0 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    6744           0 : 
+    6745             :   double direction                     = 0;
+    6746             :   double repulsion_distance            = std::numeric_limits<double>::max();
+    6747           0 :   bool   horizontal_collision_detected = false;
+    6748             : 
+    6749             :   bool vertical_collision_detected = false;
+    6750           0 : 
+    6751             :   for (int i = 0; i < int(bumper_data->n_horizontal_sectors); i++) {
+    6752             : 
+    6753             :     if (bumper_data->sectors[i] < 0) {
+    6754           0 :       continue;
+    6755           0 :     }
+    6756             : 
+    6757           0 :     bool wall_locked_horizontal = false;
+    6758           0 : 
+    6759             :     // if the sector is under critical distance
+    6760           0 :     if (bumper_data->sectors[i] <= _bumper_horizontal_distance_ && bumper_data->sectors[i] < repulsion_distance) {
+    6761             : 
+    6762           0 :       // check for locking between the oposite walls
+    6763             :       // get the desired direction of motion
+    6764           0 :       double oposite_direction  = double(i) * sector_size + M_PI;
+    6765           0 :       int    oposite_sector_idx = bumperGetSectorId(cos(oposite_direction), sin(oposite_direction), 0);
+    6766             : 
+    6767             :       if (bumper_data->sectors[oposite_sector_idx] > 0 &&
+    6768             :           ((bumper_data->sectors[i] + bumper_data->sectors[oposite_sector_idx]) <= (2 * _bumper_horizontal_distance_ + 2 * _bumper_horizontal_overshoot_))) {
+    6769             : 
+    6770           0 :         wall_locked_horizontal = true;
+    6771             : 
+    6772             :         if (fabs(bumper_data->sectors[i] - bumper_data->sectors[oposite_sector_idx]) <= 2 * _bumper_horizontal_overshoot_) {
+    6773             : 
+    6774           0 :           ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: locked between two walls");
+    6775             :           continue;
+    6776             :         }
+    6777           0 :       }
+    6778             : 
+    6779           0 :       // get the id of the oposite sector
+    6780           0 :       direction = oposite_direction;
+    6781           0 : 
+    6782             :       /* int oposite_sector_idx = (i + bumper_data->n_horizontal_sectors / 2) % bumper_data->n_horizontal_sectors; */
+    6783           0 : 
+    6784             :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: found potential collision (sector %d vs. %d), obstacle distance: %.2f, repulsing", i,
+    6785             :                         oposite_sector_idx, bumper_data->sectors[i]);
+    6786           0 : 
+    6787             :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: oposite direction: %.2f", oposite_direction);
+    6788             : 
+    6789           0 :       if (wall_locked_horizontal) {
+    6790             :         if (bumper_data->sectors[i] < bumper_data->sectors[oposite_sector_idx]) {
+    6791             :           repulsion_distance = _bumper_horizontal_overshoot_;
+    6792             :         } else {
+    6793           0 :           repulsion_distance = -_bumper_horizontal_overshoot_;
+    6794           0 :         }
+    6795           0 :       } else {
+    6796             :         repulsion_distance = _bumper_horizontal_distance_ + _bumper_horizontal_overshoot_ - bumper_data->sectors[i];
+    6797             :       }
+    6798           0 : 
+    6799             :       horizontal_collision_detected = true;
+    6800           0 :     }
+    6801           0 :   }
+    6802           0 : 
+    6803           0 :   bool   collision_above             = false;
+    6804             :   bool   collision_below             = false;
+    6805             :   double vertical_repulsion_distance = 0;
+    6806             : 
+    6807           0 :   // check for vertical collision down
+    6808           0 :   if (bumper_data->sectors[bumper_data->n_horizontal_sectors] > 0 && bumper_data->sectors[bumper_data->n_horizontal_sectors] <= _bumper_vertical_distance_) {
+    6809             : 
+    6810           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision below");
+    6811           0 :     collision_above             = true;
+    6812           0 :     vertical_collision_detected = true;
+    6813           0 :     vertical_repulsion_distance = _bumper_vertical_distance_ - bumper_data->sectors[bumper_data->n_horizontal_sectors];
+    6814             :   }
+    6815             : 
+    6816             :   // check for vertical collision up
+    6817           0 :   if (bumper_data->sectors[bumper_data->n_horizontal_sectors + 1] > 0 &&
+    6818             :       bumper_data->sectors[bumper_data->n_horizontal_sectors + 1] <= _bumper_vertical_distance_) {
+    6819           0 : 
+    6820           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision above");
+    6821             :     collision_below             = true;
+    6822           0 :     vertical_collision_detected = true;
+    6823           0 :     vertical_repulsion_distance = -(_bumper_vertical_distance_ - bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]);
+    6824             :   }
+    6825           0 : 
+    6826           0 :   // check the up/down wall locking
+    6827             :   if (collision_above && collision_below) {
+    6828           0 : 
+    6829           0 :     if (((bumper_data->sectors[bumper_data->n_horizontal_sectors] + bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) <=
+    6830             :          (2 * _bumper_vertical_distance_ + 2 * _bumper_vertical_overshoot_))) {
+    6831             : 
+    6832             :       vertical_repulsion_distance =
+    6833             :           (-bumper_data->sectors[bumper_data->n_horizontal_sectors] + bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) / 2.0;
+    6834             : 
+    6835           0 :       if (fabs(bumper_data->sectors[bumper_data->n_horizontal_sectors] - bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) <=
+    6836             :           2 * _bumper_vertical_overshoot_) {
+    6837           0 : 
+    6838             :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: locked between the floor and ceiling");
+    6839           0 :         vertical_collision_detected = false;
+    6840             :       }
+    6841           0 :     }
+    6842             :   }
+    6843           0 : 
+    6844           0 :   // if potential collision was detected and we should start the repulsing_
+    6845             :   if (horizontal_collision_detected || vertical_collision_detected) {
+    6846             : 
+    6847           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: repulsion was initiated");
+    6848             : 
+    6849           0 :     if (!repulsing_) {
+    6850             : 
+    6851           0 :       if (_bumper_switch_tracker_) {
+    6852             : 
+    6853             :         auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6854             :         std::string active_tracker_name = _tracker_names_[active_tracker_idx];
+    6855           0 : 
+    6856             :         // remember the previously active tracker
+    6857           0 :         bumper_previous_tracker_ = active_tracker_name;
+    6858           0 : 
+    6859             :         if (active_tracker_name != _bumper_tracker_name_) {
+    6860             : 
+    6861           0 :           switchTracker(_bumper_tracker_name_);
+    6862             :         }
+    6863           0 :       }
+    6864             : 
+    6865           0 :       if (_bumper_switch_controller_) {
+    6866             : 
+    6867             :         auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6868             :         std::string active_controller_name = _controller_names_[active_controller_idx];
+    6869             : 
+    6870           0 :         // remember the previously active controller
+    6871             :         bumper_previous_controller_ = active_controller_name;
+    6872           0 : 
+    6873           0 :         if (active_controller_name != _bumper_controller_name_) {
+    6874             : 
+    6875           0 :           switchController(_bumper_controller_name_);
+    6876             :         }
+    6877           0 :       }
+    6878             :     }
+    6879           0 : 
+    6880             :     repulsing_ = true;
+    6881           0 : 
+    6882             :     mrs_msgs::BumperStatus bumper_status;
+    6883             :     bumper_status.repulsing = repulsing_;
+    6884           0 : 
+    6885             :     ph_bumper_status_.publish(bumper_status);
+    6886           0 : 
+    6887             :     callbacks_enabled_ = false;
+    6888           0 : 
+    6889           0 :     mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    6890           0 : 
+    6891             :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6892           0 : 
+    6893           0 :     // create the reference in the fcu_untilted frame
+    6894             :     mrs_msgs::ReferenceStamped reference_fcu_untilted;
+    6895             : 
+    6896           0 :     reference_fcu_untilted.header.frame_id = "fcu_untilted";
+    6897             : 
+    6898           0 :     if (horizontal_collision_detected) {
+    6899           0 :       reference_fcu_untilted.reference.position.x = cos(direction) * repulsion_distance;
+    6900             :       reference_fcu_untilted.reference.position.y = sin(direction) * repulsion_distance;
+    6901           0 :     } else {
+    6902             :       reference_fcu_untilted.reference.position.x = 0;
+    6903             :       reference_fcu_untilted.reference.position.y = 0;
+    6904             :     }
+    6905           0 : 
+    6906             :     reference_fcu_untilted.reference.heading = 0;
+    6907             : 
+    6908             :     if (vertical_collision_detected) {
+    6909             :       reference_fcu_untilted.reference.position.z = vertical_repulsion_distance;
+    6910             :     } else {
+    6911           0 :       reference_fcu_untilted.reference.position.z = 0;
+    6912             :     }
+    6913           0 : 
+    6914             :     {
+    6915           0 :       std::scoped_lock lock(mutex_tracker_list_);
+    6916           0 : 
+    6917             :       // transform the reference into the currently used frame
+    6918             :       // this is under the mutex_tracker_list since we don't won't the odometry switch to happen
+    6919           0 :       // to the tracker before we actually call the goto service
+    6920             : 
+    6921             :       auto ret = transformer_->transformSingle(reference_fcu_untilted, uav_state.header.frame_id);
+    6922           0 : 
+    6923           0 :       if (!ret) {
+    6924             : 
+    6925             :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: bumper reference could not be transformed");
+    6926           0 :         return false;
+    6927           0 :       }
+    6928           0 : 
+    6929             :       reference_fcu_untilted = ret.value();
+    6930             : 
+    6931             :       // copy the reference into the service type message
+    6932           0 :       mrs_msgs::ReferenceSrvRequest req_goto_out;
+    6933           0 :       req_goto_out.reference = reference_fcu_untilted.reference;
+    6934             : 
+    6935             :       // disable callbacks of all trackers
+    6936           0 :       req_enable_callbacks.data = false;
+    6937           0 :       for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6938             :         tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6939             :       }
+    6940           0 : 
+    6941           0 :       // enable the callbacks for the active tracker
+    6942             :       req_enable_callbacks.data = true;
+    6943             :       tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6944             : 
+    6945             :       // call the goto
+    6946           0 :       tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    6947             :           mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    6948           0 : 
+    6949             :       // disable the callbacks back again
+    6950           0 :       req_enable_callbacks.data = false;
+    6951             :       tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6952           0 :     }
+    6953           0 :   }
+    6954             : 
+    6955           0 :   // if repulsing_ and the distance is safe once again
+    6956             :   if ((repulsing_ && !horizontal_collision_detected && !vertical_collision_detected)) {
+    6957           0 : 
+    6958             :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: repulsion was stopped");
+    6959             : 
+    6960             :     if (_bumper_switch_tracker_) {
+    6961           0 : 
+    6962             :       auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6963           0 :       std::string active_tracker_name = _tracker_names_[active_tracker_idx];
+    6964           0 : 
+    6965             :       if (active_tracker_name != bumper_previous_tracker_) {
+    6966           0 : 
+    6967             :         switchTracker(bumper_previous_tracker_);
+    6968           0 :       }
+    6969             :     }
+    6970             : 
+    6971             :     if (_bumper_switch_controller_) {
+    6972           0 : 
+    6973             :       auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6974             :       std::string active_controller_name = _controller_names_[active_controller_idx];
+    6975           0 : 
+    6976             :       if (active_controller_name != bumper_previous_controller_) {
+    6977             : 
+    6978           0 :         switchController(bumper_previous_controller_);
+    6979           0 :       }
+    6980           0 :     }
+    6981             : 
+    6982             :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6983             : 
+    6984           0 :     {
+    6985             :       std::scoped_lock lock(mutex_tracker_list_);
+    6986           0 : 
+    6987             :       // enable callbacks of all trackers
+    6988             :       req_enable_callbacks.data = true;
+    6989           0 :       for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6990             :         tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6991             :       }
+    6992             :     }
+    6993             : 
+    6994             :     callbacks_enabled_ = true;
+    6995             : 
+    6996           0 :     repulsing_ = false;
+    6997             :   }
+    6998           0 : 
+    6999             :   return false;
+    7000             : }
+    7001           0 : 
+    7002             : //}
+    7003           0 : 
+    7004             : /* bumperGetSectorId() //{ */
+    7005             : 
+    7006           0 : int ControlManager::bumperGetSectorId(const double& x, const double& y, [[maybe_unused]] const double& z) {
+    7007           0 :   // copy member variables
+    7008             :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    7009             : 
+    7010             :   // heading of the point in drone frame
+    7011           0 :   double point_heading_horizontal = atan2(y, x);
+    7012             : 
+    7013             :   point_heading_horizontal += TAU;
+    7014           0 : 
+    7015             :   // if point_heading_horizontal is greater then 2*M_PI mod it
+    7016           0 :   if (fabs(point_heading_horizontal) >= TAU) {
+    7017           0 :     point_heading_horizontal = fmod(point_heading_horizontal, TAU);
+    7018             :   }
+    7019             : 
+    7020           0 :   // heading of the right edge of the first sector
+    7021             :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    7022             : 
+    7023             :   // calculate the idx
+    7024             :   int idx = floor((point_heading_horizontal + (sector_size / 2.0)) / sector_size);
+    7025             : 
+    7026             :   if (idx > int(bumper_data->n_horizontal_sectors) - 1) {
+    7027             :     idx -= bumper_data->n_horizontal_sectors;
+    7028             :   }
+    7029           6 : 
+    7030             :   return idx;
+    7031          12 : }
+    7032             : 
+    7033             : //}
+    7034           6 : 
+    7035             : // | ------------------------- safety ------------------------- |
+    7036           6 : 
+    7037           6 : /* //{ changeLandingState() */
+    7038             : 
+    7039             : void ControlManager::changeLandingState(LandingStates_t new_state) {
+    7040           6 :   // copy member variables
+    7041             :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7042           3 : 
+    7043           3 :   {
+    7044           3 :     std::scoped_lock lock(mutex_landing_state_machine_);
+    7045             : 
+    7046           3 :     previous_state_landing_ = current_state_landing_;
+    7047           3 :     current_state_landing_  = new_state;
+    7048           3 :   }
+    7049           3 : 
+    7050           3 :   switch (current_state_landing_) {
+    7051             : 
+    7052           3 :     case IDLE_STATE:
+    7053             :       break;
+    7054             :     case LANDING_STATE: {
+    7055           3 : 
+    7056             :       ROS_DEBUG("[ControlManager]: starting eland timer");
+    7057             :       timer_eland_.start();
+    7058           6 :       ROS_DEBUG("[ControlManager]: eland timer started");
+    7059           6 :       eland_triggered_ = true;
+    7060             :       bumper_enabled_  = false;
+    7061             : 
+    7062             :       landing_uav_mass_ = getMass();
+    7063             :     }
+    7064             : 
+    7065           0 :     break;
+    7066           0 :   }
+    7067           0 : 
+    7068             :   ROS_INFO("[ControlManager]: switching emergency landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+    7069           0 : }
+    7070           0 : 
+    7071             : //}
+    7072           0 : 
+    7073           0 : /* hover() //{ */
+    7074             : 
+    7075             : std::tuple<bool, std::string> ControlManager::hover(void) {
+    7076           0 :   if (!is_initialized_)
+    7077             :     return std::tuple(false, "the ControlManager is not initialized");
+    7078           0 : 
+    7079           0 :   if (eland_triggered_)
+    7080             :     return std::tuple(false, "cannot hover, eland already triggered");
+    7081           0 : 
+    7082             :   if (failsafe_triggered_)
+    7083           0 :     return std::tuple(false, "cannot hover, failsafe already triggered");
+    7084             : 
+    7085           0 :   {
+    7086             :     std::scoped_lock lock(mutex_tracker_list_);
+    7087             : 
+    7088             :     std_srvs::TriggerResponse::ConstPtr response;
+    7089           0 :     std_srvs::TriggerRequest            request;
+    7090           0 : 
+    7091             :     response = tracker_list_[active_tracker_idx_]->hover(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7092           0 : 
+    7093             :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7094             : 
+    7095             :       return std::tuple(response->success, response->message);
+    7096             : 
+    7097             :     } else {
+    7098             : 
+    7099             :       std::stringstream ss;
+    7100             :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'hover()' function!";
+    7101           0 : 
+    7102           0 :       return std::tuple(false, ss.str());
+    7103           0 :     }
+    7104             :   }
+    7105           0 : }
+    7106           0 : 
+    7107             : //}
+    7108           0 : 
+    7109           0 : /* //{ ehover() */
+    7110             : 
+    7111             : std::tuple<bool, std::string> ControlManager::ehover(void) {
+    7112           0 :   if (!is_initialized_)
+    7113           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7114           0 : 
+    7115             :   if (eland_triggered_)
+    7116           0 :     return std::tuple(false, "cannot ehover, eland already triggered");
+    7117             : 
+    7118           0 :   if (failsafe_triggered_)
+    7119           0 :     return std::tuple(false, "cannot ehover, failsafe already triggered");
+    7120           0 : 
+    7121             :   // copy the member variables
+    7122           0 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7123             :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7124             :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7125           0 : 
+    7126             :   if (active_tracker_idx == _null_tracker_idx_) {
+    7127             : 
+    7128             :     std::stringstream ss;
+    7129           0 :     ss << "can not trigger ehover while not flying";
+    7130             :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7131             : 
+    7132             :     return std::tuple(false, ss.str());
+    7133           0 :   }
+    7134             : 
+    7135           0 :   ungripSrv();
+    7136           0 : 
+    7137           0 :   {
+    7138             : 
+    7139           0 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7140             : 
+    7141             :     // check if the tracker was successfully switched
+    7142             :     // this is vital, that is the core of the hover
+    7143             :     if (!success) {
+    7144           0 : 
+    7145             :       std::stringstream ss;
+    7146             :       ss << "error during switching to ehover tracker: '" << message << "'";
+    7147             :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7148           0 : 
+    7149             :       return std::tuple(success, ss.str());
+    7150           0 :     }
+    7151           0 :   }
+    7152           0 : 
+    7153             :   {
+    7154             :     auto [success, message] = switchController(_eland_controller_name_);
+    7155             : 
+    7156           0 :     // check if the controller was successfully switched
+    7157           0 :     // this is not vital, we can continue without that
+    7158           0 :     if (!success) {
+    7159             : 
+    7160           0 :       std::stringstream ss;
+    7161             :       ss << "error during switching to ehover controller: '" << message << "'";
+    7162           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7163             :     }
+    7164             :   }
+    7165             : 
+    7166             :   std::stringstream ss;
+    7167             :   ss << "ehover activated";
+    7168             :   ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7169           3 : 
+    7170           3 :   callbacks_enabled_ = false;
+    7171           0 : 
+    7172             :   return std::tuple(true, ss.str());
+    7173           3 : }
+    7174           0 : 
+    7175             : //}
+    7176           3 : 
+    7177           0 : /* eland() //{ */
+    7178             : 
+    7179             : std::tuple<bool, std::string> ControlManager::eland(void) {
+    7180           6 :   if (!is_initialized_)
+    7181           6 :     return std::tuple(false, "the ControlManager is not initialized");
+    7182           3 : 
+    7183             :   if (eland_triggered_)
+    7184           3 :     return std::tuple(false, "cannot eland, eland already triggered");
+    7185             : 
+    7186           0 :   if (failsafe_triggered_)
+    7187           0 :     return std::tuple(false, "cannot eland, failsafe already triggered");
+    7188           0 : 
+    7189             :   // copy member variables
+    7190           0 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7191             :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7192             :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7193           3 : 
+    7194             :   if (active_tracker_idx == _null_tracker_idx_) {
+    7195           0 : 
+    7196             :     std::stringstream ss;
+    7197           0 :     ss << "can not trigger eland while not flying";
+    7198             :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7199             : 
+    7200             :     return std::tuple(false, ss.str());
+    7201           3 :   }
+    7202             : 
+    7203             :   if (_rc_emergency_handoff_) {
+    7204             : 
+    7205           3 :     toggleOutput(false);
+    7206             : 
+    7207           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7208           0 :   }
+    7209           0 : 
+    7210             :   {
+    7211           0 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7212             : 
+    7213             :     // check if the tracker was successfully switched
+    7214             :     // this is vital
+    7215             :     if (!success) {
+    7216           6 : 
+    7217             :       std::stringstream ss;
+    7218             :       ss << "error during switching to eland tracker: '" << message << "'";
+    7219             :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7220           3 : 
+    7221             :       return std::tuple(success, ss.str());
+    7222           0 :     }
+    7223           0 :   }
+    7224           0 : 
+    7225             :   {
+    7226             :     auto [success, message] = switchController(_eland_controller_name_);
+    7227             : 
+    7228             :     // check if the controller was successfully switched
+    7229             :     // this is not vital, we can continue without it
+    7230           3 :     if (!success) {
+    7231             : 
+    7232             :       std::stringstream ss;
+    7233           3 :       ss << "error during switching to eland controller: '" << message << "'";
+    7234             :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7235           3 :     }
+    7236             :   }
+    7237           3 : 
+    7238             :   // | ----------------- call the eland service ----------------- |
+    7239           3 : 
+    7240           3 :   std::stringstream ss;
+    7241             :   bool              success;
+    7242           3 : 
+    7243             :   if (elandSrv()) {
+    7244           3 : 
+    7245             :     changeLandingState(LANDING_STATE);
+    7246             : 
+    7247             :     odometryCallbacksSrv(false);
+    7248           0 : 
+    7249           0 :     ss << "eland activated";
+    7250             :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7251           0 : 
+    7252             :     success = true;
+    7253             : 
+    7254           6 :     callbacks_enabled_ = false;
+    7255             : 
+    7256             :   } else {
+    7257             : 
+    7258             :     ss << "error during activation of eland";
+    7259             :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7260             : 
+    7261           9 :     success = false;
+    7262             :   }
+    7263          18 : 
+    7264          18 :   return std::tuple(success, ss.str());
+    7265           9 : }
+    7266           9 : 
+    7267             : //}
+    7268           9 : 
+    7269           0 : /* failsafe() //{ */
+    7270             : 
+    7271             : std::tuple<bool, std::string> ControlManager::failsafe(void) {
+    7272           9 : 
+    7273           0 :   // copy member variables
+    7274             :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7275             :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7276           9 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7277             :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7278           0 : 
+    7279           0 :   if (!is_initialized_) {
+    7280           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7281           0 :   }
+    7282             : 
+    7283             :   if (failsafe_triggered_) {
+    7284           9 :     return std::tuple(false, "cannot, failsafe already triggered");
+    7285             :   }
+    7286           0 : 
+    7287             :   if (active_tracker_idx == _null_tracker_idx_) {
+    7288           0 : 
+    7289             :     std::stringstream ss;
+    7290             :     ss << "can not trigger failsafe while not flying";
+    7291           9 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7292             :     return std::tuple(false, ss.str());
+    7293           0 :   }
+    7294             : 
+    7295           0 :   if (_rc_emergency_handoff_) {
+    7296             : 
+    7297           0 :     toggleOutput(false);
+    7298           0 : 
+    7299           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7300             :   }
+    7301           0 : 
+    7302             :   if (getLowestOuput(_hw_api_inputs_) == POSITION) {
+    7303             :     return eland();
+    7304             :   }
+    7305           0 : 
+    7306           0 :   if (_parachute_enabled_) {
+    7307           0 : 
+    7308             :     auto [success, message] = deployParachute();
+    7309             : 
+    7310             :     if (success) {
+    7311           9 : 
+    7312             :       std::stringstream ss;
+    7313             :       ss << "failsafe activated (parachute): '" << message << "'";
+    7314             :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7315          18 : 
+    7316             :       return std::tuple(true, ss.str());
+    7317           9 : 
+    7318           9 :     } else {
+    7319             : 
+    7320             :       std::stringstream ss;
+    7321          18 :       ss << "could not deploy parachute: '" << message << "', continuing with normal failsafe";
+    7322             :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7323             :     }
+    7324           9 :   }
+    7325             : 
+    7326             :   if (_failsafe_controller_idx_ != active_controller_idx) {
+    7327           9 : 
+    7328           9 :     try {
+    7329           9 : 
+    7330           9 :       std::scoped_lock lock(mutex_controller_list_);
+    7331             : 
+    7332           9 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _failsafe_controller_name_.c_str());
+    7333             :       controller_list_[_failsafe_controller_idx_]->activate(last_control_output);
+    7334           9 : 
+    7335           9 :       {
+    7336           9 :         std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7337           9 : 
+    7338             :         // update the time (used in failsafe)
+    7339           9 :         controller_tracker_switch_time_ = ros::Time::now();
+    7340             :       }
+    7341           9 : 
+    7342             :       failsafe_triggered_ = true;
+    7343           9 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    7344             :       timer_eland_.stop();
+    7345           9 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7346             : 
+    7347             :       landing_uav_mass_ = getMass();
+    7348             : 
+    7349           9 :       eland_triggered_ = false;
+    7350           9 :       ROS_DEBUG("[ControlManager]: starting failsafe timer");
+    7351             :       timer_failsafe_.start();
+    7352           0 :       ROS_DEBUG("[ControlManager]: failsafe timer started");
+    7353           0 : 
+    7354             :       bumper_enabled_ = false;
+    7355             : 
+    7356           0 :       odometryCallbacksSrv(false);
+    7357           0 : 
+    7358           0 :       callbacks_enabled_ = false;
+    7359             : 
+    7360             :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: the controller '%s' was activated", _failsafe_controller_name_.c_str());
+    7361             : 
+    7362          18 :       // super important, switch the active controller idx
+    7363             :       try {
+    7364             :         controller_list_[active_controller_idx_]->deactivate();
+    7365             :         active_controller_idx_ = _failsafe_controller_idx_;
+    7366             :       }
+    7367             :       catch (std::runtime_error& exrun) {
+    7368             :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not deactivate the controller '%s'", _controller_names_[active_controller_idx_].c_str());
+    7369           0 :       }
+    7370           0 :     }
+    7371             :     catch (std::runtime_error& exrun) {
+    7372           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: error during activation of the controller '%s'", _failsafe_controller_name_.c_str());
+    7373             :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    7374           0 :     }
+    7375           0 :   }
+    7376             : 
+    7377           0 :   return std::tuple(true, "failsafe activated");
+    7378             : }
+    7379             : 
+    7380           0 : //}
+    7381             : 
+    7382           0 : /* escalatingFailsafe() //{ */
+    7383           0 : 
+    7384             : std::tuple<bool, std::string> ControlManager::escalatingFailsafe(void) {
+    7385           0 :   std::stringstream ss;
+    7386             : 
+    7387             :   if ((ros::Time::now() - escalating_failsafe_time_).toSec() < _escalating_failsafe_timeout_) {
+    7388           0 : 
+    7389             :     ss << "too soon for escalating failsafe";
+    7390           0 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7391           0 : 
+    7392             :     return std::tuple(false, ss.str());
+    7393           0 :   }
+    7394           0 : 
+    7395             :   if (!output_enabled_) {
+    7396           0 : 
+    7397             :     ss << "not escalating failsafe, output is disabled";
+    7398           0 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7399             : 
+    7400           0 :     return std::tuple(false, ss.str());
+    7401             :   }
+    7402           0 : 
+    7403             :   ROS_WARN("[ControlManager]: escalating failsafe triggered");
+    7404           0 : 
+    7405           0 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7406             :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7407           0 : 
+    7408             :   std::string active_tracker_name    = _tracker_names_[active_tracker_idx];
+    7409             :   std::string active_controller_name = _controller_names_[active_controller_idx];
+    7410             : 
+    7411             :   EscalatingFailsafeStates_t next_state = getNextEscFailsafeState();
+    7412           0 : 
+    7413             :   escalating_failsafe_time_ = ros::Time::now();
+    7414           0 : 
+    7415           0 :   switch (next_state) {
+    7416             : 
+    7417           0 :     case ESC_NONE_STATE: {
+    7418             : 
+    7419           0 :       ss << "escalating failsafe has run to impossible situation";
+    7420           0 :       ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7421             : 
+    7422             :       return std::tuple(false, "escalating failsafe has run to impossible situation");
+    7423           0 : 
+    7424             :       break;
+    7425             :     }
+    7426             : 
+    7427             :     case ESC_EHOVER_STATE: {
+    7428           0 : 
+    7429             :       ss << "escalating failsafe escalates to ehover";
+    7430           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7431           0 : 
+    7432             :       auto [success, message] = ehover();
+    7433           0 : 
+    7434             :       if (success) {
+    7435           0 :         state_escalating_failsafe_ = ESC_EHOVER_STATE;
+    7436           0 :       }
+    7437             : 
+    7438             :       return {success, message};
+    7439           0 : 
+    7440             :       break;
+    7441             :     }
+    7442             : 
+    7443             :     case ESC_ELAND_STATE: {
+    7444           0 : 
+    7445             :       ss << "escalating failsafe escalates to eland";
+    7446           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7447             : 
+    7448           0 :       auto [success, message] = eland();
+    7449           0 : 
+    7450             :       if (success) {
+    7451           0 :         state_escalating_failsafe_ = ESC_ELAND_STATE;
+    7452             :       }
+    7453           0 : 
+    7454           0 :       return {success, message};
+    7455             : 
+    7456             :       break;
+    7457           0 :     }
+    7458             : 
+    7459             :     case ESC_FAILSAFE_STATE: {
+    7460             : 
+    7461             :       escalating_failsafe_time_ = ros::Time::now();
+    7462           0 : 
+    7463             :       ss << "escalating failsafe escalates to failsafe";
+    7464           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7465             : 
+    7466           0 :       auto [success, message] = failsafe();
+    7467           0 : 
+    7468             :       if (success) {
+    7469           0 :         state_escalating_failsafe_ = ESC_FINISHED_STATE;
+    7470             :       }
+    7471             : 
+    7472             :       return {success, message};
+    7473             : 
+    7474           0 :       break;
+    7475             :     }
+    7476           0 : 
+    7477             :     case ESC_FINISHED_STATE: {
+    7478             : 
+    7479             :       escalating_failsafe_time_ = ros::Time::now();
+    7480           0 : 
+    7481             :       ss << "escalating failsafe has nothing more to do";
+    7482           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7483             : 
+    7484             :       return std::tuple(false, "escalating failsafe has nothing more to do");
+    7485             : 
+    7486             :       break;
+    7487             :     }
+    7488             : 
+    7489           0 :     default: {
+    7490           0 : 
+    7491             :       break;
+    7492           0 :     }
+    7493             :   }
+    7494           0 : 
+    7495             :   ROS_ERROR("[ControlManager]: escalatingFailsafe() reached the final return, this should not happen!");
+    7496           0 : 
+    7497             :   return std::tuple(false, "escalating failsafe exception");
+    7498             : }
+    7499             : 
+    7500             : //}
+    7501           0 : 
+    7502             : /* getNextEscFailsafeState() //{ */
+    7503           0 : 
+    7504           0 : EscalatingFailsafeStates_t ControlManager::getNextEscFailsafeState(void) {
+    7505           0 :   EscalatingFailsafeStates_t current_state = state_escalating_failsafe_;
+    7506           0 : 
+    7507           0 :   switch (current_state) {
+    7508           0 : 
+    7509             :     case ESC_FINISHED_STATE: {
+    7510           0 : 
+    7511             :       return ESC_FINISHED_STATE;
+    7512             : 
+    7513             :       break;
+    7514             :     }
+    7515             : 
+    7516           0 :     case ESC_NONE_STATE: {
+    7517             : 
+    7518           0 :       if (_escalating_failsafe_ehover_) {
+    7519           0 :         return ESC_EHOVER_STATE;
+    7520           0 :       } else if (_escalating_failsafe_eland_) {
+    7521           0 :         return ESC_ELAND_STATE;
+    7522             :       } else if (_escalating_failsafe_failsafe_) {
+    7523           0 :         return ESC_FAILSAFE_STATE;
+    7524             :       } else {
+    7525             :         return ESC_FINISHED_STATE;
+    7526             :       }
+    7527             : 
+    7528             :       break;
+    7529           0 :     }
+    7530             : 
+    7531           0 :     case ESC_EHOVER_STATE: {
+    7532           0 : 
+    7533             :       if (_escalating_failsafe_eland_) {
+    7534           0 :         return ESC_ELAND_STATE;
+    7535             :       } else if (_escalating_failsafe_failsafe_) {
+    7536             :         return ESC_FAILSAFE_STATE;
+    7537             :       } else {
+    7538             :         return ESC_FINISHED_STATE;
+    7539             :       }
+    7540           0 : 
+    7541             :       break;
+    7542           0 :     }
+    7543             : 
+    7544             :     case ESC_ELAND_STATE: {
+    7545             : 
+    7546             :       if (_escalating_failsafe_failsafe_) {
+    7547             :         return ESC_FAILSAFE_STATE;
+    7548           0 :       } else {
+    7549             :         return ESC_FINISHED_STATE;
+    7550           0 :       }
+    7551             : 
+    7552             :       break;
+    7553             :     }
+    7554             : 
+    7555             :     case ESC_FAILSAFE_STATE: {
+    7556             : 
+    7557             :       return ESC_FINISHED_STATE;
+    7558             : 
+    7559           0 :       break;
+    7560           0 :     }
+    7561           0 :   }
+    7562             : 
+    7563             :   ROS_ERROR("[ControlManager]: getNextEscFailsafeState() reached the final return, this should not happen!");
+    7564           0 : 
+    7565             :   return ESC_NONE_STATE;
+    7566           0 : }
+    7567           0 : 
+    7568             : //}
+    7569             : 
+    7570           0 : // | ------------------- trajectory tracking ------------------ |
+    7571             : 
+    7572           0 : /* startTrajectoryTracking() //{ */
+    7573             : 
+    7574           0 : std::tuple<bool, std::string> ControlManager::startTrajectoryTracking(void) {
+    7575             :   if (!is_initialized_)
+    7576             :     return std::tuple(false, "the ControlManager is not initialized");
+    7577             : 
+    7578           0 :   {
+    7579           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7580             : 
+    7581           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7582             :     std_srvs::TriggerRequest            request;
+    7583             : 
+    7584             :     response =
+    7585             :         tracker_list_[active_tracker_idx_]->startTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7586             : 
+    7587             :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7588             : 
+    7589             :       return std::tuple(response->success, response->message);
+    7590           0 : 
+    7591           0 :     } else {
+    7592           0 : 
+    7593             :       std::stringstream ss;
+    7594             :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'startTrajectoryTracking()' function!";
+    7595           0 : 
+    7596             :       return std::tuple(false, ss.str());
+    7597           0 :     }
+    7598           0 :   }
+    7599             : }
+    7600             : 
+    7601           0 : //}
+    7602             : 
+    7603           0 : /* stopTrajectoryTracking() //{ */
+    7604             : 
+    7605           0 : std::tuple<bool, std::string> ControlManager::stopTrajectoryTracking(void) {
+    7606             :   if (!is_initialized_)
+    7607             :     return std::tuple(false, "the ControlManager is not initialized");
+    7608             : 
+    7609           0 :   {
+    7610           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7611             : 
+    7612           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7613             :     std_srvs::TriggerRequest            request;
+    7614             : 
+    7615             :     response =
+    7616             :         tracker_list_[active_tracker_idx_]->stopTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7617             : 
+    7618             :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7619             : 
+    7620             :       return std::tuple(response->success, response->message);
+    7621           0 : 
+    7622           0 :     } else {
+    7623           0 : 
+    7624             :       std::stringstream ss;
+    7625             :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'stopTrajectoryTracking()' function!";
+    7626           0 : 
+    7627             :       return std::tuple(false, ss.str());
+    7628           0 :     }
+    7629           0 :   }
+    7630             : }
+    7631             : 
+    7632           0 : //}
+    7633             : 
+    7634           0 : /* resumeTrajectoryTracking() //{ */
+    7635             : 
+    7636           0 : std::tuple<bool, std::string> ControlManager::resumeTrajectoryTracking(void) {
+    7637             :   if (!is_initialized_)
+    7638             :     return std::tuple(false, "the ControlManager is not initialized");
+    7639             : 
+    7640           0 :   {
+    7641           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7642             : 
+    7643           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7644             :     std_srvs::TriggerRequest            request;
+    7645             : 
+    7646             :     response =
+    7647             :         tracker_list_[active_tracker_idx_]->resumeTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7648             : 
+    7649             :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7650             : 
+    7651             :       return std::tuple(response->success, response->message);
+    7652           0 : 
+    7653           0 :     } else {
+    7654           0 : 
+    7655             :       std::stringstream ss;
+    7656             :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'resumeTrajectoryTracking()' function!";
+    7657           0 : 
+    7658             :       return std::tuple(false, ss.str());
+    7659           0 :     }
+    7660           0 :   }
+    7661             : }
+    7662           0 : 
+    7663             : //}
+    7664           0 : 
+    7665             : /* gotoTrajectoryStart() //{ */
+    7666           0 : 
+    7667             : std::tuple<bool, std::string> ControlManager::gotoTrajectoryStart(void) {
+    7668             :   if (!is_initialized_)
+    7669             :     return std::tuple(false, "the ControlManager is not initialized");
+    7670           0 : 
+    7671           0 :   {
+    7672             :     std::scoped_lock lock(mutex_tracker_list_);
+    7673           0 : 
+    7674             :     std_srvs::TriggerResponse::ConstPtr response;
+    7675             :     std_srvs::TriggerRequest            request;
+    7676             : 
+    7677             :     response = tracker_list_[active_tracker_idx_]->gotoTrajectoryStart(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7678             : 
+    7679             :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7680             : 
+    7681             :       return std::tuple(response->success, response->message);
+    7682             : 
+    7683             :     } else {
+    7684           6 : 
+    7685          12 :       std::stringstream ss;
+    7686             :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'gotoTrajectoryStart()' function!";
+    7687           6 : 
+    7688             :       return std::tuple(false, ss.str());
+    7689           0 :     }
+    7690           0 :   }
+    7691           0 : }
+    7692             : 
+    7693             : //}
+    7694           6 : 
+    7695             : // | ----------------- service client wrappers ---------------- |
+    7696           0 : 
+    7697           0 : /* arming() //{ */
+    7698           0 : 
+    7699             : std::tuple<bool, std::string> ControlManager::arming(const bool input) {
+    7700             :   std::stringstream ss;
+    7701           6 : 
+    7702             :   if (input) {
+    7703           0 : 
+    7704             :     ss << "not allowed to arm using the ControlManager, maybe later when we don't do bugs";
+    7705           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7706             :     return std::tuple(false, ss.str());
+    7707             :   }
+    7708           6 : 
+    7709             :   if (!input && !isOffboard()) {
+    7710           6 : 
+    7711             :     ss << "can not disarm, not in OFFBOARD mode";
+    7712           6 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7713             :     return std::tuple(false, ss.str());
+    7714           6 :   }
+    7715             : 
+    7716           6 :   if (!input && _rc_emergency_handoff_) {
+    7717             : 
+    7718           6 :     toggleOutput(false);
+    7719           6 : 
+    7720             :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7721           6 :   }
+    7722             : 
+    7723           6 :   std_srvs::SetBool srv_out;
+    7724             : 
+    7725           6 :   srv_out.request.data = input ? 1 : 0;  // arm or disarm?
+    7726           6 : 
+    7727           6 :   ROS_INFO("[ControlManager]: calling for %s", input ? "arming" : "disarming");
+    7728             : 
+    7729           6 :   if (sch_arming_.call(srv_out)) {
+    7730           6 : 
+    7731           6 :     if (srv_out.response.success) {
+    7732             : 
+    7733           6 :       ss << "service call for " << (input ? "arming" : "disarming") << " was successful";
+    7734             :       ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7735             : 
+    7736             :       if (!input) {
+    7737           0 : 
+    7738           0 :         toggleOutput(false);
+    7739             : 
+    7740             :         ROS_DEBUG("[ControlManager]: stopping failsafe timer");
+    7741             :         timer_failsafe_.stop();
+    7742           0 :         ROS_DEBUG("[ControlManager]: failsafe timer stopped");
+    7743           0 : 
+    7744             :         ROS_DEBUG("[ControlManager]: stopping the eland timer");
+    7745             :         timer_eland_.stop();
+    7746          12 :         ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7747             : 
+    7748             :         shutdown();
+    7749             :       }
+    7750             : 
+    7751             :     } else {
+    7752             :       ss << "service call for " << (input ? "arming" : "disarming") << " failed";
+    7753          12 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7754          12 :     }
+    7755             : 
+    7756          24 :   } else {
+    7757             :     ss << "calling for " << (input ? "arming" : "disarming") << " resulted in failure: '" << srv_out.response.message << "'";
+    7758          12 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7759             :   }
+    7760          12 : 
+    7761             :   return std::tuple(srv_out.response.success, ss.str());
+    7762          12 : }
+    7763             : 
+    7764          12 : //}
+    7765           0 : 
+    7766             : /* odometryCallbacksSrv() //{ */
+    7767             : 
+    7768             : void ControlManager::odometryCallbacksSrv(const bool input) {
+    7769           0 :   ROS_INFO("[ControlManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    7770             : 
+    7771          12 :   std_srvs::SetBool srv;
+    7772             : 
+    7773             :   srv.request.data = input;
+    7774             : 
+    7775             :   bool res = sch_set_odometry_callbacks_.call(srv);
+    7776             : 
+    7777           3 :   if (res) {
+    7778           3 : 
+    7779             :     if (!srv.response.success) {
+    7780           6 :       ROS_WARN("[ControlManager]: service call for toggle odometry callbacks returned: '%s'", srv.response.message.c_str());
+    7781             :     }
+    7782           3 : 
+    7783             :   } else {
+    7784           3 :     ROS_ERROR("[ControlManager]: service call for toggle odometry callbacks failed!");
+    7785             :   }
+    7786           3 : }
+    7787           0 : 
+    7788             : //}
+    7789             : 
+    7790           3 : /* elandSrv() //{ */
+    7791             : 
+    7792             : bool ControlManager::elandSrv(void) {
+    7793             :   ROS_INFO("[ControlManager]: calling for eland");
+    7794           0 : 
+    7795             :   std_srvs::Trigger srv;
+    7796           0 : 
+    7797             :   bool res = sch_eland_.call(srv);
+    7798             : 
+    7799             :   if (res) {
+    7800             : 
+    7801             :     if (!srv.response.success) {
+    7802             :       ROS_WARN("[ControlManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    7803             :     }
+    7804           9 : 
+    7805             :     return srv.response.success;
+    7806          18 : 
+    7807             :   } else {
+    7808           9 : 
+    7809             :     ROS_ERROR("[ControlManager]: service call for eland failed!");
+    7810           0 : 
+    7811             :     return false;
+    7812           0 :   }
+    7813           0 : }
+    7814             : 
+    7815           9 : //}
+    7816             : 
+    7817             : /* shutdown() //{ */
+    7818             : 
+    7819             : void ControlManager::shutdown() {
+    7820             :   // copy member variables
+    7821           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    7822           0 : 
+    7823             :   if (_automatic_pc_shutdown_enabled_) {
+    7824           0 : 
+    7825             :     ROS_INFO("[ControlManager]: calling service for PC shutdown");
+    7826           0 : 
+    7827             :     std_srvs::Trigger shutdown_out;
+    7828           0 :     sch_shutdown_.call(shutdown_out);
+    7829             :   }
+    7830           0 : }
+    7831           0 : 
+    7832             : //}
+    7833             : 
+    7834           0 : /* parachuteSrv() //{ */
+    7835             : 
+    7836             : bool ControlManager::parachuteSrv(void) {
+    7837             :   ROS_INFO("[ControlManager]: calling for parachute deployment");
+    7838           0 : 
+    7839             :   std_srvs::Trigger srv;
+    7840           0 : 
+    7841             :   bool res = sch_parachute_.call(srv);
+    7842             : 
+    7843             :   if (res) {
+    7844             : 
+    7845             :     if (!srv.response.success) {
+    7846             :       ROS_WARN("[ControlManager]: service call for parachute deployment returned: '%s'", srv.response.message.c_str());
+    7847             :     }
+    7848         365 : 
+    7849         730 :     return srv.response.success;
+    7850             : 
+    7851         365 :   } else {
+    7852             : 
+    7853         365 :     ROS_ERROR("[ControlManager]: service call for parachute deployment failed!");
+    7854             : 
+    7855           0 :     return false;
+    7856           0 :   }
+    7857             : }
+    7858             : 
+    7859             : //}
+    7860         365 : 
+    7861             : /* ungripSrv() //{ */
+    7862         365 : 
+    7863             : void ControlManager::ungripSrv(void) {
+    7864             :   std_srvs::Trigger srv;
+    7865             : 
+    7866             :   bool res = sch_ungrip_.call(srv);
+    7867             : 
+    7868             :   if (res) {
+    7869             : 
+    7870          56 :     if (!srv.response.success) {
+    7871             :       ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload returned: '%s'", srv.response.message.c_str());
+    7872          56 :     }
+    7873           3 : 
+    7874           3 :   } else {
+    7875             :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload failed!");
+    7876             :   }
+    7877          53 : }
+    7878             : 
+    7879          53 : //}
+    7880             : 
+    7881             : // | ------------------------ routines ------------------------ |
+    7882          53 : 
+    7883             : /* toggleOutput() //{ */
+    7884           6 : 
+    7885             : void ControlManager::toggleOutput(const bool& input) {
+    7886           6 : 
+    7887             :   if (input == output_enabled_) {
+    7888           6 :     ROS_WARN_THROTTLE(0.1, "[ControlManager]: output is already %s", input ? "ON" : "OFF");
+    7889             :     return;
+    7890           6 :   }
+    7891             : 
+    7892             :   ROS_INFO("[ControlManager]: switching output %s", input ? "ON" : "OFF");
+    7893             : 
+    7894          42 :   output_enabled_ = input;
+    7895             : 
+    7896          36 :   // if switching output off, switch to NullTracker
+    7897          36 :   if (!output_enabled_) {
+    7898             : 
+    7899             :     ROS_INFO("[ControlManager]: switching to 'NullTracker' after switching output off");
+    7900          36 : 
+    7901          36 :     switchTracker(_null_tracker_name_);
+    7902             : 
+    7903           0 :     ROS_INFO_STREAM("[ControlManager]: switching to the controller '" << _eland_controller_name_ << "' after switching output off");
+    7904           0 : 
+    7905             :     switchController(_eland_controller_name_);
+    7906             : 
+    7907             :     // | --------- deactivate all trackers and controllers -------- |
+    7908          36 : 
+    7909             :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    7910          30 : 
+    7911          30 :       std::map<std::string, TrackerParams>::iterator it;
+    7912             :       it = trackers_.find(_tracker_names_[i]);
+    7913             : 
+    7914          30 :       try {
+    7915          30 :         ROS_INFO("[ControlManager]: deactivating the tracker '%s'", it->second.address.c_str());
+    7916             :         tracker_list_[i]->deactivate();
+    7917           0 :       }
+    7918           0 :       catch (std::runtime_error& ex) {
+    7919             :         ROS_ERROR("[ControlManager]: exception caught during tracker deactivation: '%s'", ex.what());
+    7920             :       }
+    7921             :     }
+    7922           6 : 
+    7923           6 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    7924           6 : 
+    7925             :       std::map<std::string, ControllerParams>::iterator it;
+    7926           6 :       it = controllers_.find(_controller_names_[i]);
+    7927             : 
+    7928             :       try {
+    7929             :         ROS_INFO("[ControlManager]: deactivating the controller '%s'", it->second.address.c_str());
+    7930             :         controller_list_[i]->deactivate();
+    7931             :       }
+    7932             :       catch (std::runtime_error& ex) {
+    7933             :         ROS_ERROR("[ControlManager]: exception caught during controller deactivation: '%s'", ex.what());
+    7934         107 :       }
+    7935         321 :     }
+    7936         321 : 
+    7937             :     timer_failsafe_.stop();
+    7938             :     timer_eland_.stop();
+    7939         214 :     timer_pirouette_.stop();
+    7940         107 : 
+    7941             :     offboard_mode_was_true_ = false;
+    7942         214 :   }
+    7943             : }
+    7944         107 : 
+    7945             : //}
+    7946           0 : 
+    7947           0 : /* switchTracker() //{ */
+    7948           0 : 
+    7949             : std::tuple<bool, std::string> ControlManager::switchTracker(const std::string& tracker_name) {
+    7950             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchTracker");
+    7951         107 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchTracker", scope_timer_logger_, scope_timer_enabled_);
+    7952             : 
+    7953           0 :   // copy member variables
+    7954           0 :   auto last_tracker_cmd   = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7955           0 :   auto active_tracker_idx = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7956             : 
+    7957             :   std::stringstream ss;
+    7958         107 : 
+    7959             :   if (!got_uav_state_) {
+    7960             : 
+    7961         107 :     ss << "can not switch tracker, missing odometry!";
+    7962           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7963           0 :     return std::tuple(false, ss.str());
+    7964           0 :   }
+    7965             : 
+    7966             :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    7967             : 
+    7968         107 :     ss << "can not switch tracker, missing odometry innovation!";
+    7969           2 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7970           2 :     return std::tuple(false, ss.str());
+    7971           2 :   }
+    7972             : 
+    7973             :   auto new_tracker_idx = idxInVector(tracker_name, _tracker_names_);
+    7974             : 
+    7975         105 :   // check if the tracker exists
+    7976             :   if (!new_tracker_idx) {
+    7977             :     ss << "the tracker '" << tracker_name << "' does not exist!";
+    7978             :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7979         105 :     return std::tuple(false, ss.str());
+    7980             :   }
+    7981         105 : 
+    7982             :   // check if the tracker is already active
+    7983         105 :   if (new_tracker_idx.value() == active_tracker_idx) {
+    7984             :     ss << "not switching, the tracker '" << tracker_name << "' is already active!";
+    7985           0 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7986           0 :     return std::tuple(true, ss.str());
+    7987           0 :   }
+    7988             : 
+    7989             :   {
+    7990             :     std::scoped_lock lock(mutex_tracker_list_);
+    7991         105 : 
+    7992         105 :     try {
+    7993             : 
+    7994             :       ROS_INFO("[ControlManager]: activating the tracker '%s'", _tracker_names_[new_tracker_idx.value()].c_str());
+    7995         210 : 
+    7996             :       auto [success, message] = tracker_list_[new_tracker_idx.value()]->activate(last_tracker_cmd);
+    7997             : 
+    7998         105 :       if (!success) {
+    7999             : 
+    8000             :         ss << "the tracker '" << tracker_name << "' could not be activated: '" << message << "'";
+    8001             :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8002             :         return std::tuple(false, ss.str());
+    8003             : 
+    8004         105 :       } else {
+    8005         105 : 
+    8006             :         ss << "the tracker '" << tracker_name << "' was activated";
+    8007             :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8008         105 : 
+    8009             :         {
+    8010          47 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8011             : 
+    8012          94 :           // update the time (used in failsafe)
+    8013             :           controller_tracker_switch_time_ = ros::Time::now();
+    8014          47 :         }
+    8015             : 
+    8016          94 :         // super important, switch the active tracker idx
+    8017             :         try {
+    8018          47 : 
+    8019             :           ROS_INFO("[ControlManager]: deactivating '%s'", _tracker_names_[active_tracker_idx_].c_str());
+    8020             :           tracker_list_[active_tracker_idx_]->deactivate();
+    8021          94 : 
+    8022             :           // if switching from null tracker, re-activate the already active the controller
+    8023             :           if (active_tracker_idx_ == _null_tracker_idx_) {
+    8024          47 : 
+    8025             :             ROS_INFO("[ControlManager]: reactivating '%s' due to switching from 'NullTracker'", _controller_names_[active_controller_idx_].c_str());
+    8026             :             {
+    8027             :               std::scoped_lock lock(mutex_controller_list_);
+    8028             : 
+    8029          58 :               initializeControlOutput();
+    8030             : 
+    8031           6 :               auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8032             : 
+    8033          12 :               controller_list_[active_controller_idx_]->activate(last_control_output);
+    8034             : 
+    8035           6 :               {
+    8036             :                 std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8037             : 
+    8038             :                 // update the time (used in failsafe)
+    8039           6 :                 controller_tracker_switch_time_ = ros::Time::now();
+    8040             :               }
+    8041           6 :             }
+    8042             : 
+    8043             :             // if switching to null tracker, deactivate the active controller
+    8044           6 :           } else if (new_tracker_idx == _null_tracker_idx_) {
+    8045             : 
+    8046             :             ROS_INFO("[ControlManager]: deactivating '%s' due to switching to 'NullTracker'", _controller_names_[active_controller_idx_].c_str());
+    8047         105 :             {
+    8048             :               std::scoped_lock lock(mutex_controller_list_);
+    8049           0 : 
+    8050           0 :               controller_list_[active_controller_idx_]->deactivate();
+    8051             :             }
+    8052             : 
+    8053             :             {
+    8054           0 :               std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8055           0 : 
+    8056           0 :               last_tracker_cmd_ = {};
+    8057             :             }
+    8058             : 
+    8059             :             initializeControlOutput();
+    8060         105 :           }
+    8061             : 
+    8062             :           active_tracker_idx_ = new_tracker_idx.value();
+    8063             :         }
+    8064             :         catch (std::runtime_error& exrun) {
+    8065             :           ROS_ERROR("[ControlManager]: could not deactivate the tracker '%s'", _tracker_names_[active_tracker_idx_].c_str());
+    8066             :         }
+    8067         105 :       }
+    8068         315 :     }
+    8069         315 :     catch (std::runtime_error& exrun) {
+    8070             :       ROS_ERROR("[ControlManager]: error during activation of the tracker '%s'", tracker_name.c_str());
+    8071             :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8072         210 :     }
+    8073         210 :   }
+    8074         105 : 
+    8075             :   return std::tuple(true, ss.str());
+    8076         210 : }
+    8077             : 
+    8078         105 : //}
+    8079             : 
+    8080           0 : /* switchController() //{ */
+    8081           0 : 
+    8082           0 : std::tuple<bool, std::string> ControlManager::switchController(const std::string& controller_name) {
+    8083             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchController");
+    8084             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchController", scope_timer_logger_, scope_timer_enabled_);
+    8085         105 : 
+    8086             :   // copy member variables
+    8087           0 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8088           0 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8089           0 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8090             : 
+    8091             :   std::stringstream ss;
+    8092         105 : 
+    8093             :   if (!got_uav_state_) {
+    8094             : 
+    8095         105 :     ss << "can not switch controller, missing odometry!";
+    8096           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8097           0 :     return std::tuple(false, ss.str());
+    8098           0 :   }
+    8099             : 
+    8100             :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8101             : 
+    8102         105 :     ss << "can not switch controller, missing odometry innovation!";
+    8103             :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8104          10 :     return std::tuple(false, ss.str());
+    8105          10 :   }
+    8106          10 : 
+    8107             :   auto new_controller_idx = idxInVector(controller_name, _controller_names_);
+    8108             : 
+    8109             :   // check if the controller exists
+    8110          95 :   if (!new_controller_idx) {
+    8111             :     ss << "the controller '" << controller_name << "' does not exist!";
+    8112             :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8113             :     return std::tuple(false, ss.str());
+    8114          95 :   }
+    8115          95 : 
+    8116             :   // check if the controller is not active
+    8117           0 :   if (new_controller_idx.value() == active_controller_idx) {
+    8118           0 : 
+    8119           0 :     ss << "not switching, the controller '" << controller_name << "' is already active!";
+    8120             :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8121             :     return std::tuple(true, ss.str());
+    8122             :   }
+    8123          95 : 
+    8124          95 :   {
+    8125             :     std::scoped_lock lock(mutex_controller_list_);
+    8126          95 : 
+    8127             :     try {
+    8128             : 
+    8129             :       ROS_INFO("[ControlManager]: activating the controller '%s'", _controller_names_[new_controller_idx.value()].c_str());
+    8130             :       if (!controller_list_[new_controller_idx.value()]->activate(last_control_output)) {
+    8131             : 
+    8132             :         ss << "the controller '" << controller_name << "' was not activated";
+    8133          95 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8134             :         return std::tuple(false, ss.str());
+    8135          95 : 
+    8136          95 :       } else {
+    8137             : 
+    8138             :         ss << "the controller '" << controller_name << "' was activated";
+    8139             :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8140         190 : 
+    8141             :         ROS_INFO("[ControlManager]: triggering hover after switching to '%s', re-activating '%s'", _controller_names_[new_controller_idx.value()].c_str(),
+    8142             :                  _tracker_names_[active_tracker_idx_].c_str());
+    8143          95 : 
+    8144             :         // reactivate the current tracker
+    8145             :         // TODO this is not the most elegant way to restart the tracker after a controller switch
+    8146             :         // but it serves the purpose
+    8147             :         {
+    8148             :           std::scoped_lock lock(mutex_tracker_list_);
+    8149          95 : 
+    8150          95 :           tracker_list_[active_tracker_idx_]->deactivate();
+    8151             :           tracker_list_[active_tracker_idx_]->activate({});
+    8152           0 :         }
+    8153           0 : 
+    8154             :         {
+    8155             :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8156             : 
+    8157           0 :           // update the time (used in failsafe)
+    8158           0 :           controller_tracker_switch_time_ = ros::Time::now();
+    8159           0 :         }
+    8160             : 
+    8161             :         // super important, switch the active controller idx
+    8162             :         try {
+    8163          95 : 
+    8164             :           controller_list_[active_controller_idx_]->deactivate();
+    8165             :           active_controller_idx_ = new_controller_idx.value();
+    8166          95 :         }
+    8167             :         catch (std::runtime_error& exrun) {
+    8168          95 :           ROS_ERROR("[ControlManager]: could not deactivate controller '%s'", _controller_names_[active_controller_idx_].c_str());
+    8169          95 :         }
+    8170             :       }
+    8171             :     }
+    8172          95 :     catch (std::runtime_error& exrun) {
+    8173             :       ROS_ERROR("[ControlManager]: error during activation of controller '%s'", controller_name.c_str());
+    8174          95 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8175             :     }
+    8176             :   }
+    8177             : 
+    8178             :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints;
+    8179             : 
+    8180             :   {
+    8181       38166 :     std::scoped_lock lock(mutex_constraints_);
+    8182       76332 : 
+    8183       76332 :     sanitized_constraints_ = current_constraints_;
+    8184             :     sanitized_constraints  = sanitized_constraints_;
+    8185             :   }
+    8186       38166 : 
+    8187       38166 :   setConstraintsToControllers(sanitized_constraints);
+    8188       38166 : 
+    8189             :   return std::tuple(true, ss.str());
+    8190             : }
+    8191             : 
+    8192             : //}
+    8193             : 
+    8194           0 : /* updateTrackers() //{ */
+    8195             : 
+    8196             : void ControlManager::updateTrackers(void) {
+    8197      269355 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateTrackers");
+    8198             :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateTrackers", scope_timer_logger_, scope_timer_enabled_);
+    8199      231189 : 
+    8200             :   // copy member variables
+    8201             :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8202       38166 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8203             :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8204             : 
+    8205       38166 :   // --------------------------------------------------------------
+    8206             :   // |                     Update the trackers                    |
+    8207           0 :   // --------------------------------------------------------------
+    8208             : 
+    8209           0 :   std::optional<mrs_msgs::TrackerCommand> tracker_command;
+    8210           0 : 
+    8211           0 :   // for each tracker
+    8212             :   for (size_t i = 0; i < tracker_list_.size(); i++) {
+    8213           0 : 
+    8214             :     if (i == active_tracker_idx) {
+    8215             : 
+    8216             :       try {
+    8217             :         std::scoped_lock lock(mutex_tracker_list_);
+    8218             : 
+    8219      193023 :         // active tracker => update and retrieve the command
+    8220             :         tracker_command = tracker_list_[i]->update(uav_state, last_control_output);
+    8221             :       }
+    8222      193023 :       catch (std::runtime_error& exrun) {
+    8223             : 
+    8224           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the active tracker (%s)", _tracker_names_[active_tracker_idx].c_str());
+    8225             :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8226           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the active tracker");
+    8227           0 : 
+    8228           0 :         eland();
+    8229             :       }
+    8230           0 : 
+    8231             :     } else {
+    8232             : 
+    8233             :       try {
+    8234             :         std::scoped_lock lock(mutex_tracker_list_);
+    8235       38166 : 
+    8236        7652 :         // nonactive tracker => just update without retrieving the command
+    8237             :         tracker_list_[i]->update(uav_state, last_control_output);
+    8238             :       }
+    8239       30514 :       catch (std::runtime_error& exrun) {
+    8240             : 
+    8241       61028 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the tracker '%s'", _tracker_names_[i].c_str());
+    8242             :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8243       30514 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the tracker");
+    8244             : 
+    8245             :         eland();
+    8246             :       }
+    8247       30514 :     }
+    8248           0 :   }
+    8249             : 
+    8250             :   if (active_tracker_idx == _null_tracker_idx_) {
+    8251       30514 :     return;
+    8252           0 :   }
+    8253             : 
+    8254             :   if (validateTrackerCommand(tracker_command, "ControlManager", "tracker_command")) {
+    8255             : 
+    8256             :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8257           0 : 
+    8258             :     last_tracker_cmd_ = tracker_command;
+    8259           0 : 
+    8260             :     // | --------- fill in the potentially missing header --------- |
+    8261           0 : 
+    8262             :     if (last_tracker_cmd_->header.frame_id == "") {
+    8263           0 :       last_tracker_cmd_->header.frame_id = uav_state.header.frame_id;
+    8264             :     }
+    8265             : 
+    8266             :     if (last_tracker_cmd_->header.stamp == ros::Time(0)) {
+    8267           0 :       last_tracker_cmd_->header.stamp = ros::Time::now();
+    8268             :     }
+    8269           0 : 
+    8270           0 :   } else {
+    8271           0 : 
+    8272           0 :     if (active_tracker_idx != _null_tracker_idx_) {
+    8273             : 
+    8274           0 :       if (active_tracker_idx == _ehover_tracker_idx_) {
+    8275             : 
+    8276             :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the ehover tracker '%s' returned empty or invalid command!", _tracker_names_[active_tracker_idx].c_str());
+    8277             : 
+    8278             :         failsafe();
+    8279             : 
+    8280           0 :       } else {
+    8281             : 
+    8282           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the tracker '%s' returned empty or invalid command!", _tracker_names_[active_tracker_idx].c_str());
+    8283             : 
+    8284             :         if (_tracker_error_action_ == ELAND_STR) {
+    8285             :           eland();
+    8286             :         } else if (_tracker_error_action_ == EHOVER_STR) {
+    8287             :           ehover();
+    8288             :         } else {
+    8289             :           failsafe();
+    8290             :         }
+    8291       40578 :       }
+    8292       81156 : 
+    8293       81156 :     } else {
+    8294             : 
+    8295             :       std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8296       40578 : 
+    8297       40578 :       last_tracker_cmd_ = tracker_command;
+    8298             :     }
+    8299             :   }
+    8300             : }
+    8301             : 
+    8302       40578 : //}
+    8303             : 
+    8304        7652 : /* updateControllers() //{ */
+    8305             : 
+    8306             : void ControlManager::updateControllers(const mrs_msgs::UavState& uav_state) {
+    8307             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateControllers");
+    8308       15304 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateControllers", scope_timer_logger_, scope_timer_enabled_);
+    8309             : 
+    8310             :   // copy member variables
+    8311       45912 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8312       38260 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8313             : 
+    8314             :   // | ----------------- update the controllers ----------------- |
+    8315             : 
+    8316        7652 :   // the trackers are not running
+    8317             :   if (!last_tracker_cmd) {
+    8318             : 
+    8319       65852 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: tracker command is empty, giving controller just the uav_state");
+    8320             : 
+    8321             :     // give the controllers current uav state
+    8322      197556 :     {
+    8323             :       std::scoped_lock lock(mutex_controller_list_);
+    8324      164630 : 
+    8325             :       // nonactive controller => just update without retrieving the command
+    8326             :       for (int i = 0; i < int(controller_list_.size()); i++) {
+    8327       32926 :         controller_list_[i]->updateInactive(uav_state, last_tracker_cmd);
+    8328             :       }
+    8329             :     }
+    8330       32926 : 
+    8331             :     return;
+    8332           0 :   }
+    8333             : 
+    8334           0 :   Controller::ControlOutput control_output;
+    8335           0 : 
+    8336             :   // for each controller
+    8337           0 :   for (size_t i = 0; i < controller_list_.size(); i++) {
+    8338             : 
+    8339           0 :     if (i == active_controller_idx) {
+    8340           0 : 
+    8341             :       try {
+    8342             :         std::scoped_lock lock(mutex_controller_list_);
+    8343             : 
+    8344           0 :         // active controller => update and retrieve the command
+    8345           0 :         control_output = controller_list_[active_controller_idx]->updateActive(uav_state, last_tracker_cmd.value());
+    8346             :       }
+    8347             :       catch (std::runtime_error& exrun) {
+    8348             : 
+    8349             :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the active controller (%s)", _controller_names_[active_controller_idx].c_str());
+    8350             :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8351             : 
+    8352      263408 :         if (eland_triggered_) {
+    8353             : 
+    8354             :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering failsafe due to an exception in the active controller (eland is already active)");
+    8355      131704 :           failsafe();
+    8356             : 
+    8357           0 :         } else {
+    8358             : 
+    8359           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the active controller");
+    8360           0 :           eland();
+    8361           0 :         }
+    8362             :       }
+    8363           0 : 
+    8364             :     } else {
+    8365             : 
+    8366             :       try {
+    8367             :         std::scoped_lock lock(mutex_controller_list_);
+    8368             : 
+    8369       32926 :         // nonactive controller => just update without retrieving the command
+    8370             :         controller_list_[i]->updateInactive(uav_state, last_tracker_cmd);
+    8371       32926 :       }
+    8372             :       catch (std::runtime_error& exrun) {
+    8373             : 
+    8374             :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the controller '%s'", _controller_names_[i].c_str());
+    8375             :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8376             :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland (somebody should notice this)");
+    8377             : 
+    8378             :         eland();
+    8379             :       }
+    8380             :     }
+    8381           0 :   }
+    8382             : 
+    8383             :   // normally, the active controller returns a valid command
+    8384           0 :   if (validateControlOutput(control_output, _hw_api_inputs_, "ControlManager", "control_output")) {
+    8385             : 
+    8386           0 :     mrs_lib::set_mutexed(mutex_last_control_output_, control_output, last_control_output_);
+    8387             : 
+    8388             :     // but it can return an empty command, due to some critical internal error
+    8389           0 :     // which means we should trigger the failsafe landing
+    8390             :   } else {
+    8391           0 : 
+    8392             :     // only if the controller is still active, trigger escalating failsafe
+    8393           0 :     // if not active, we don't care, we should not ask the controller for
+    8394             :     // the result anyway -> this could mean a race condition occured
+    8395           0 :     // like it once happend during landing
+    8396             :     bool controller_status = false;
+    8397           0 : 
+    8398             :     {
+    8399           0 :       std::scoped_lock lock(mutex_controller_list_);
+    8400             : 
+    8401           0 :       controller_status = controller_list_[active_controller_idx]->getStatus().active;
+    8402             :     }
+    8403             : 
+    8404             :     if (controller_status) {
+    8405           0 : 
+    8406             :       if (active_controller_idx_ == _failsafe_controller_idx_) {
+    8407           0 : 
+    8408             :         ROS_ERROR("[ControlManager]: failsafe controller returned empty command, disabling control");
+    8409             : 
+    8410             :         toggleOutput(false);
+    8411             : 
+    8412             :       } else if (active_controller_idx_ == _eland_controller_idx_) {
+    8413             : 
+    8414             :         ROS_ERROR("[ControlManager]: triggering failsafe, the emergency controller returned empty or invalid command");
+    8415             : 
+    8416             :         failsafe();
+    8417       40578 : 
+    8418       81156 :       } else {
+    8419       81156 : 
+    8420             :         ROS_ERROR("[ControlManager]: triggering eland, the controller returned empty or invalid command");
+    8421             : 
+    8422       40578 :         eland();
+    8423       40578 :       }
+    8424       40578 :     }
+    8425       40578 :   }
+    8426       40578 : }
+    8427             : 
+    8428       40578 : //}
+    8429             : 
+    8430             : /* publish() //{ */
+    8431             : 
+    8432             : void ControlManager::publish(void) {
+    8433             :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publish");
+    8434       40578 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publish", scope_timer_logger_, scope_timer_enabled_);
+    8435       40578 : 
+    8436             :   // copy member variables
+    8437       40578 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8438       40578 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8439             :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8440       40578 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8441             :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8442        5354 : 
+    8443             :   publishControlReferenceOdom(last_tracker_cmd, last_control_output);
+    8444       35224 : 
+    8445             :   // --------------------------------------------------------------
+    8446        2298 :   // |                 Publish the control command                |
+    8447             :   // --------------------------------------------------------------
+    8448             : 
+    8449        4596 :   mrs_msgs::HwApiAttitudeCmd attitude_target;
+    8450             :   attitude_target.stamp = ros::Time::now();
+    8451             : 
+    8452        4596 :   mrs_msgs::HwApiAttitudeRateCmd attitude_rate_target;
+    8453             :   attitude_rate_target.stamp = ros::Time::now();
+    8454        2298 : 
+    8455             :   if (!output_enabled_) {
+    8456             : 
+    8457        2298 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: output is disabled");
+    8458             : 
+    8459       32926 :   } else if (active_tracker_idx == _null_tracker_idx_) {
+    8460             : 
+    8461           0 :     ROS_WARN_THROTTLE(5.0, "[ControlManager]: 'NullTracker' is active, not controlling");
+    8462             : 
+    8463             :     Controller::HwApiOutputVariant output =
+    8464             :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8465           0 : 
+    8466             :     {
+    8467           0 :       std::scoped_lock lock(mutex_last_control_output_);
+    8468             : 
+    8469       32926 :       last_control_output_.control_output = output;
+    8470             :     }
+    8471       32926 : 
+    8472       32926 :     control_output_publisher_.publish(output);
+    8473             : 
+    8474           0 :   } else if (active_tracker_idx != _null_tracker_idx_ && !last_control_output.control_output) {
+    8475           0 : 
+    8476             :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' returned nil command, not publishing anything",
+    8477             :                       _controller_names_[active_controller_idx].c_str());
+    8478             : 
+    8479           0 :     Controller::HwApiOutputVariant output =
+    8480             :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8481             : 
+    8482             :     control_output_publisher_.publish(output);
+    8483             : 
+    8484       40578 :   } else if (last_control_output.control_output) {
+    8485             : 
+    8486             :     if (validateHwApiAttitudeCmd(attitude_target, "ControlManager", "last_control_output.control_output")) {
+    8487             :       control_output_publisher_.publish(last_control_output.control_output.value());
+    8488       40578 :     } else {
+    8489             :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the attitude cmd is not valid just before publishing!");
+    8490       40578 :       return;
+    8491             :     }
+    8492             : 
+    8493       32087 :   } else {
+    8494       32087 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: not publishing a control command");
+    8495       32087 :   }
+    8496             : 
+    8497             :   // | ----------- publish the controller diagnostics ----------- |
+    8498       32087 : 
+    8499             :   ph_controller_diagnostics_.publish(last_control_output.diagnostics);
+    8500             : 
+    8501       32087 :   // | --------- publish the applied throttle and thrust -------- |
+    8502       32087 : 
+    8503       32087 :   auto throttle = extractThrottle(last_control_output);
+    8504             : 
+    8505             :   if (throttle) {
+    8506             : 
+    8507             :     {
+    8508             :       std_msgs::Float64 msg;
+    8509       40578 :       msg.data = throttle.value();
+    8510       32926 :       ph_throttle_.publish(msg);
+    8511             :     }
+    8512             : 
+    8513             :     double thrust = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value());
+    8514             : 
+    8515       40578 :     {
+    8516             :       std_msgs::Float64 msg;
+    8517       70480 :       msg.data = thrust;
+    8518             :       ph_thrust_.publish(msg);
+    8519       35240 :     }
+    8520       35240 :   }
+    8521             : 
+    8522       35240 :   // | ----------------- publish tracker command ---------------- |
+    8523       29129 : 
+    8524       29129 :   if (last_tracker_cmd) {
+    8525       29129 :     ph_tracker_cmd_.publish(last_tracker_cmd.value());
+    8526             :   }
+    8527             : 
+    8528       35240 :   // | --------------- publish the odometry input --------------- |
+    8529       26841 : 
+    8530             :   if (last_control_output.control_output) {
+    8531             : 
+    8532       35240 :     mrs_msgs::EstimatorInput msg;
+    8533       29129 : 
+    8534             :     msg.header.frame_id = _uav_name_ + "/fcu";
+    8535             :     msg.header.stamp    = ros::Time::now();
+    8536             : 
+    8537             :     if (last_control_output.desired_unbiased_acceleration) {
+    8538             :       msg.control_acceleration.x = last_control_output.desired_unbiased_acceleration.value()[0];
+    8539             :       msg.control_acceleration.y = last_control_output.desired_unbiased_acceleration.value()[1];
+    8540             :       msg.control_acceleration.z = last_control_output.desired_unbiased_acceleration.value()[2];
+    8541             :     }
+    8542           0 : 
+    8543             :     if (last_control_output.desired_heading_rate) {
+    8544           0 :       msg.control_hdg_rate = last_control_output.desired_heading_rate.value();
+    8545             :     }
+    8546           0 : 
+    8547           0 :     if (last_control_output.desired_unbiased_acceleration) {
+    8548           0 :       ph_mrs_odom_input_.publish(msg);
+    8549             :     }
+    8550             :   }
+    8551             : }
+    8552             : 
+    8553           0 : //}
+    8554             : 
+    8555           0 : /* deployParachute() //{ */
+    8556           0 : 
+    8557           0 : std::tuple<bool, std::string> ControlManager::deployParachute(void) {
+    8558             :   // if not enabled, return false
+    8559             :   if (!_parachute_enabled_) {
+    8560             : 
+    8561           0 :     std::stringstream ss;
+    8562             :     ss << "can not deploy parachute, it is disabled";
+    8563             :     return std::tuple(false, ss.str());
+    8564           0 :   }
+    8565             : 
+    8566           0 :   // we can not disarm if the drone is not in offboard mode
+    8567             :   // this is super important!
+    8568           0 :   if (!isOffboard()) {
+    8569           0 : 
+    8570             :     std::stringstream ss;
+    8571           0 :     ss << "can not deploy parachute, not in offboard mode";
+    8572             :     return std::tuple(false, ss.str());
+    8573             :   }
+    8574             : 
+    8575           0 :   // call the parachute service
+    8576           0 :   bool succ = parachuteSrv();
+    8577             : 
+    8578           0 :   // if the deployment was successful,
+    8579             :   if (succ) {
+    8580             : 
+    8581             :     arming(false);
+    8582             : 
+    8583             :     std::stringstream ss;
+    8584             :     ss << "parachute deployed";
+    8585             : 
+    8586           0 :     return std::tuple(true, ss.str());
+    8587           0 : 
+    8588           0 :   } else {
+    8589           0 : 
+    8590             :     std::stringstream ss;
+    8591           0 :     ss << "error during deployment of parachute";
+    8592             : 
+    8593           0 :     return std::tuple(false, ss.str());
+    8594             :   }
+    8595           0 : }
+    8596           0 : 
+    8597           0 : //}
+    8598           0 : 
+    8599             : /* velocityReferenceToReference() //{ */
+    8600           0 : 
+    8601             : mrs_msgs::ReferenceStamped ControlManager::velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference) {
+    8602             :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8603           0 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8604           0 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    8605             : 
+    8606             :   mrs_msgs::ReferenceStamped reference_out;
+    8607           0 : 
+    8608             :   reference_out.header = vel_reference.header;
+    8609           0 : 
+    8610           0 :   if (vel_reference.reference.use_heading) {
+    8611             :     reference_out.reference.heading = vel_reference.reference.heading;
+    8612           0 :   } else if (vel_reference.reference.use_heading_rate) {
+    8613             :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading() + vel_reference.reference.use_heading_rate;
+    8614             :   } else {
+    8615           0 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    8616             :   }
+    8617             : 
+    8618             :   if (vel_reference.reference.use_altitude) {
+    8619           0 :     reference_out.reference.position.z = vel_reference.reference.altitude;
+    8620           0 :   } else {
+    8621             : 
+    8622           0 :     double stopping_time_z = 0;
+    8623           0 : 
+    8624             :     if (vel_reference.reference.velocity.x >= 0) {
+    8625             :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_ascending_acceleration) + 1.0;
+    8626           0 :     } else {
+    8627             :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_descending_acceleration) + 1.0;
+    8628             :     }
+    8629             : 
+    8630             :     reference_out.reference.position.z = last_tracker_cmd->position.z + vel_reference.reference.velocity.z * stopping_time_z;
+    8631             :   }
+    8632             : 
+    8633       40578 :   {
+    8634             :     double stopping_time_x = 1.5 * (fabs(vel_reference.reference.velocity.x) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8635       40578 :     double stopping_time_y = 1.5 * (fabs(vel_reference.reference.velocity.y) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8636        7652 : 
+    8637             :     reference_out.reference.position.x = last_tracker_cmd->position.x + vel_reference.reference.velocity.x * stopping_time_x;
+    8638             :     reference_out.reference.position.y = last_tracker_cmd->position.y + vel_reference.reference.velocity.y * stopping_time_y;
+    8639       65852 :   }
+    8640             : 
+    8641       65852 :   return reference_out;
+    8642             : }
+    8643       32926 : 
+    8644             : //}
+    8645       32926 : 
+    8646       32926 : /* publishControlReferenceOdom() //{ */
+    8647       32926 : 
+    8648             : void ControlManager::publishControlReferenceOdom([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command,
+    8649           0 :                                                  [[maybe_unused]] const Controller::ControlOutput&               control_output) {
+    8650           0 :   if (!tracker_command || !control_output.control_output) {
+    8651             :     return;
+    8652             :   }
+    8653       32926 : 
+    8654       32926 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8655             : 
+    8656           0 :   nav_msgs::Odometry msg;
+    8657             : 
+    8658             :   msg.header = tracker_command->header;
+    8659             : 
+    8660       32926 :   if (tracker_command->use_position_horizontal) {
+    8661             :     msg.pose.pose.position.x = tracker_command->position.x;
+    8662       32926 :     msg.pose.pose.position.y = tracker_command->position.y;
+    8663             :   } else {
+    8664       65852 :     msg.pose.pose.position.x = uav_state.pose.position.x;
+    8665       32926 :     msg.pose.pose.position.y = uav_state.pose.position.y;
+    8666             :   }
+    8667       32926 : 
+    8668       32926 :   if (tracker_command->use_position_vertical) {
+    8669       32926 :     msg.pose.pose.position.z = tracker_command->position.z;
+    8670             :   } else {
+    8671             :     msg.pose.pose.position.z = uav_state.pose.position.z;
+    8672       32926 :   }
+    8673       32926 : 
+    8674             :   // transform the velocity in the reference to the child_frame
+    8675             :   if (tracker_command->use_velocity_horizontal || tracker_command->use_velocity_vertical) {
+    8676       65852 : 
+    8677             :     msg.child_frame_id = _uav_name_ + "/" + _body_frame_;
+    8678       32926 : 
+    8679       32926 :     geometry_msgs::Vector3Stamped velocity;
+    8680       32926 :     velocity.header = tracker_command->header;
+    8681       32926 : 
+    8682             :     if (tracker_command->use_velocity_horizontal) {
+    8683           0 :       velocity.vector.x = tracker_command->velocity.x;
+    8684             :       velocity.vector.y = tracker_command->velocity.y;
+    8685             :     }
+    8686             : 
+    8687             :     if (tracker_command->use_velocity_vertical) {
+    8688             :       velocity.vector.z = tracker_command->velocity.z;
+    8689       32926 :     }
+    8690       27634 : 
+    8691        5292 :     auto res = transformer_->transformSingle(velocity, msg.child_frame_id);
+    8692        5292 : 
+    8693             :     if (res) {
+    8694             :       msg.twist.twist.linear.x = res.value().vector.x;
+    8695             :       msg.twist.twist.linear.y = res.value().vector.y;
+    8696       32926 :       msg.twist.twist.linear.z = res.value().vector.z;
+    8697             :     } else {
+    8698       20854 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the reference speed from '%s' to '%s'", velocity.header.frame_id.c_str(),
+    8699             :                          msg.child_frame_id.c_str());
+    8700       20854 :     }
+    8701       20854 :   }
+    8702       20854 : 
+    8703             :   // fill in the orientation or heading
+    8704             :   if (control_output.desired_orientation) {
+    8705       32926 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(control_output.desired_orientation.value());
+    8706             :   } else if (tracker_command->use_heading) {
+    8707             :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, tracker_command->heading);
+    8708             :   }
+    8709             : 
+    8710             :   // fill in the attitude rate
+    8711             :   if (std::holds_alternative<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value())) {
+    8712         100 : 
+    8713         100 :     auto attitude_cmd = std::get<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value());
+    8714             : 
+    8715         100 :     msg.twist.twist.angular.x = attitude_cmd.body_rate.x;
+    8716         100 :     msg.twist.twist.angular.y = attitude_cmd.body_rate.y;
+    8717         100 :     msg.twist.twist.angular.z = attitude_cmd.body_rate.z;
+    8718         100 :   }
+    8719         100 : 
+    8720         100 :   ph_control_reference_odom_.publish(msg);
+    8721         100 : }
+    8722         100 : 
+    8723         100 : //}
+    8724             : 
+    8725         100 : /* initializeControlOutput() //{ */
+    8726         100 : 
+    8727             : void ControlManager::initializeControlOutput(void) {
+    8728             :   Controller::ControlOutput controller_output;
+    8729             : 
+    8730             :   controller_output.diagnostics.total_mass       = _uav_mass_;
+    8731             :   controller_output.diagnostics.mass_difference  = 0.0;
+    8732             :   controller_output.diagnostics.disturbance_bx_b = _initial_body_disturbance_x_;
+    8733             :   controller_output.diagnostics.disturbance_by_b = _initial_body_disturbance_y_;
+    8734             :   controller_output.diagnostics.disturbance_wx_w = 0.0;
+    8735          47 :   controller_output.diagnostics.disturbance_wy_w = 0.0;
+    8736             :   controller_output.diagnostics.disturbance_bx_w = 0.0;
+    8737             :   controller_output.diagnostics.disturbance_by_w = 0.0;
+    8738             :   controller_output.diagnostics.controller       = "none";
+    8739             : 
+    8740             :   mrs_lib::set_mutexed(mutex_last_control_output_, controller_output, last_control_output_);
+    8741             : }
+    8742             : 
+    8743             : //}
+    8744             : 
+    8745             : }  // namespace control_manager
+    8746             : 
+    8747             : }  // namespace mrs_uav_managers
+    8748             : 
+    8749             : #include <pluginlib/class_list_macros.h>
+    8750             : 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..ab02b93bc4 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.overview.html @@ -0,0 +1,2208 @@ + + + + + + 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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overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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+ Overview +
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Test:MRS UAV System - Test coverage reportLines:1888371250.9 %
Date:2023-12-06 10:06:33Functions:7312359.3 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
50.3%50.3%
+ 		50.3 %1845 / 366955.0 %61 / 111
<unnamed>50.3 %1845 / 366955.0 %61 / 111
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<unnamed>100.0 %43 / 43100.0 %12 / 12
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_managers/src/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1888371250.9 %
Date:2023-12-06 10:06:33Functions:7312359.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
50.3%50.3%
+ 		50.3 %1845 / 366955.0 %61 / 111
<unnamed>50.3 %1845 / 366955.0 %61 / 111
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100.0%
+ 		100.0 %43 / 43100.0 %12 / 12
<unnamed>100.0 %43 / 43100.0 %12 / 12
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1888371250.9 %
Date:2023-12-06 10:06:33Functions:7312359.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
50.3%50.3%
+ 		50.3 %1845 / 366955.0 %61 / 111
<unnamed>50.3 %1845 / 366955.0 %61 / 111
output_publisher.cpp +
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+ 		100.0 %43 / 43100.0 %12 / 12
<unnamed>100.0 %43 / 43100.0 %12 / 12
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1888371250.9 %
Date:2023-12-06 10:06:33Functions:7312359.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
50.3%50.3%
+ 		50.3 %1845 / 366955.0 %61 / 111
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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+ + + diff --git a/mrs_uav_managers/src/control_manager/index-sort-l.html b/mrs_uav_managers/src/control_manager/index-sort-l.html new file mode 100644 index 0000000000..f3f288dc61 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/index-sort-l.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1888371250.9 %
Date:2023-12-06 10:06:33Functions:7312359.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
50.3%50.3%
+ 		50.3 %1845 / 366955.0 %61 / 111
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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+ + + diff --git a/mrs_uav_managers/src/control_manager/index.html b/mrs_uav_managers/src/control_manager/index.html new file mode 100644 index 0000000000..996e0a6b43 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1888371250.9 %
Date:2023-12-06 10:06:33Functions:7312359.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
50.3%50.3%
+ 		50.3 %1845 / 366955.0 %61 / 111
output_publisher.cpp +
100.0%
+ 		100.0 %43 / 43100.0 %12 / 12
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.func-sort-c.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func-sort-c.html new file mode 100644 index 0000000000..b6b8592101 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func-sort-c.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2023-12-06 10:06:33Functions: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&)47
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()47
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)366
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)511
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)514
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)871
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)891
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)2762
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2956
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)3204
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)23149
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&)35224
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html new file mode 100644 index 0000000000..cfc6a3e718 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2023-12-06 10:06:33Functions:1212100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2956
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)3204
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)366
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)511
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)23149
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)2762
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)871
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)514
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)891
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&)35224
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher(ros::NodeHandle&)47
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()47
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.frameset.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.frameset.html new file mode 100644 index 0000000000..43585be242 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.html new file mode 100644 index 0000000000..e7a704eefa --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.html @@ -0,0 +1,154 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2023-12-06 10:06:33Functions:1212100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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          47 : OutputPublisher::OutputPublisher() {
+      10          47 : }
+      11             : 
+      12          47 : OutputPublisher::OutputPublisher(ros::NodeHandle& nh) {
+      13             : 
+      14          47 :   ph_hw_api_actuator_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>(nh, "hw_api_actuator_cmd_out", 1);
+      15          47 :   ph_hw_api_control_group_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>(nh, "hw_api_control_group_cmd_out", 1);
+      16          47 :   ph_hw_api_attitude_rate_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>(nh, "hw_api_attitude_rate_cmd_out", 1);
+      17          47 :   ph_hw_api_attitude_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>(nh, "hw_api_attitude_cmd_out", 1);
+      18          47 :   ph_hw_api_acceleration_hdg_rate_cmd_ = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd>(nh, "hw_api_acceleration_hdg_rate_cmd_out", 1);
+      19          47 :   ph_hw_api_acceleration_hdg_cmd_      = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>(nh, "hw_api_acceleration_hdg_cmd_out", 1);
+      20          47 :   ph_hw_api_velocity_hdg_rate_cmd_     = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>(nh, "hw_api_velocity_hdg_rate_cmd_out", 1);
+      21          47 :   ph_hw_api_velocity_hdg_cmd_          = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>(nh, "hw_api_velocity_hdg_cmd_out", 1);
+      22          47 :   ph_hw_api_position_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>(nh, "hw_api_position_cmd_out", 1);
+      23          47 : }
+      24             : 
+      25       35224 : void OutputPublisher::publish(const Controller::HwApiOutputVariant& control_output) {
+      26             : 
+      27       35224 :   std::visit(OutputPublisher::PublisherVisitor(this), control_output);
+      28       35224 : }
+      29             : 
+      30             : // | ------------------------- private ------------------------ |
+      31             : 
+      32        2956 : void OutputPublisher::publish(const mrs_msgs::HwApiActuatorCmd& msg) {
+      33        2956 :   ph_hw_api_actuator_cmd_.publish(msg);
+      34        2956 : }
+      35             : 
+      36        2762 : void OutputPublisher::publish(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      37        2762 :   ph_hw_api_control_group_cmd_.publish(msg);
+      38        2762 : }
+      39             : 
+      40       23149 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      41       23149 :   ph_hw_api_attitude_rate_cmd_.publish(msg);
+      42       23149 : }
+      43             : 
+      44        3204 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      45        3204 :   ph_hw_api_attitude_cmd_.publish(msg);
+      46        3204 : }
+      47             : 
+      48         891 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      49         891 :   ph_hw_api_acceleration_hdg_rate_cmd_.publish(msg);
+      50         891 : }
+      51             : 
+      52         871 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      53         871 :   ph_hw_api_acceleration_hdg_cmd_.publish(msg);
+      54         871 : }
+      55             : 
+      56         514 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      57         514 :   ph_hw_api_velocity_hdg_rate_cmd_.publish(msg);
+      58         514 : }
+      59             : 
+      60         511 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      61         511 :   ph_hw_api_velocity_hdg_cmd_.publish(msg);
+      62         511 : }
+      63             : 
+      64         366 : void OutputPublisher::publish(const mrs_msgs::HwApiPositionCmd& msg) {
+      65         366 :   ph_hw_api_position_cmd_.publish(msg);
+      66         366 : }
+      67             : 
+      68             : }  // namespace control_manager
+      69             : 
+      70             : }  // namespace mrs_uav_managers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html new file mode 100644 index 0000000000..8bbe8c2bfd --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html @@ -0,0 +1,38 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.png b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c385c662de6cc4327e3a61ce14e679273fb7fbb9 GIT binary patch literal 307 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1=!VDx=Zs3yuQW60^A+G=b|6c_J%iqVwzWUF= zunH&+rp|e9UJ7J$7I;J!GcfQS0b$0e+I-SL!GoSIjv*eMZ^In<8Web%cPzx|uYg9wc$$GsO#c<%LD z^o61EWbIvRy=0gZWQ-p596VxsjnPP{OElF*Cg6-{dy|A>Y}=H;oU<(ImnK^5lUTi3 z+iSA*={Nb$&wWaG6~8WP+rHV`1hgbCr~Q%KEqQ|=`dh-AP literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..534b1d5943 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33152862.7 %
Date:2023-12-06 10:06:33Functions:182475.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()0
mrs_uav_managers::estimation_manager::EstimationManager::loadConfigFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)0
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::estimation_manager::EstimationManager::switchToHealthyEstimator()0
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)47
mrs_uav_managers::estimation_manager::EstimationManager::onInit()47
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()47
mrs_uav_managers::estimation_manager::EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)66
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)112
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const112
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const224
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const1340
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const5130
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)5650
mrs_uav_managers::estimation_manager::StateMachine::isInTheAir() const55038
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)55040
mrs_uav_managers::estimation_manager::EstimationManager::timerCheckHealth(ros::TimerEvent const&)55041
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const60678
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const115714
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const526257
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html new file mode 100644 index 0000000000..bc22b2fbb4 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33152862.7 %
Date:2023-12-06 10:06:33Functions:182475.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)112
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()0
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)47
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)55040
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&)55041
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)0
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)47
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)5650
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> >&)66
mrs_uav_managers::estimation_manager::EstimationManager::onInit()47
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()47
mrs_uav_managers::estimation_manager::StateMachine::isInTheAir() const55038
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const112
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const115714
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const224
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const60678
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const5130
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const526257
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const1340
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.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..0f7eeb3ba6 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html @@ -0,0 +1,1313 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33152862.7 %
Date:2023-12-06 10:06:33Functions:182475.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*//{ includes */
+       2             : #include <ros/ros.h>
+       3             : #include <nodelet/nodelet.h>
+       4             : 
+       5             : #include <pluginlib/class_loader.h>
+       6             : #include <nodelet/loader.h>
+       7             : 
+       8             : #include <geometry_msgs/QuaternionStamped.h>
+       9             : #include <geometry_msgs/Vector3Stamped.h>
+      10             : 
+      11             : #include <nav_msgs/Odometry.h>
+      12             : 
+      13             : #include <std_srvs/Trigger.h>
+      14             : #include <std_srvs/SetBool.h>
+      15             : 
+      16             : #include <mrs_msgs/UavState.h>
+      17             : #include <mrs_msgs/Float64Stamped.h>
+      18             : #include <mrs_msgs/String.h>
+      19             : #include <mrs_msgs/EstimationDiagnostics.h>
+      20             : #include <mrs_msgs/HwApiCapabilities.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : 
+      23             : #include <mrs_lib/param_loader.h>
+      24             : #include <mrs_lib/publisher_handler.h>
+      25             : #include <mrs_lib/service_client_handler.h>
+      26             : #include <mrs_lib/transformer.h>
+      27             : #include <mrs_lib/subscribe_handler.h>
+      28             : #include <mrs_lib/gps_conversions.h>
+      29             : #include <mrs_lib/scope_timer.h>
+      30             : 
+      31             : 
+      32             : #include <mrs_uav_managers/state_estimator.h>
+      33             : #include <mrs_uav_managers/agl_estimator.h>
+      34             : #include <mrs_uav_managers/estimation_manager/support.h>
+      35             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      36             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      37             : /*//}*/
+      38             : 
+      39             : namespace mrs_uav_managers
+      40             : {
+      41             : 
+      42             : namespace estimation_manager
+      43             : {
+      44             : 
+      45             : // --------------------------------------------------------------
+      46             : // |                           classes                          |
+      47             : // --------------------------------------------------------------
+      48             : 
+      49             : /*//{ class StateMachine */
+      50             : class StateMachine {
+      51             : 
+      52             :   /*//{ states */
+      53             : public:
+      54             :   typedef enum
+      55             :   {
+      56             : 
+      57             :     UNINITIALIZED_STATE,
+      58             :     INITIALIZED_STATE,
+      59             :     READY_FOR_TAKEOFF_STATE,
+      60             :     TAKING_OFF_STATE,
+      61             :     FLYING_STATE,
+      62             :     HOVER_STATE,
+      63             :     LANDING_STATE,
+      64             :     LANDED_STATE,
+      65             :     ESTIMATOR_SWITCHING_STATE,
+      66             :     DUMMY_STATE,
+      67             :     EMERGENCY_STATE,
+      68             :     FAILSAFE_STATE,
+      69             :     ERROR_STATE
+      70             : 
+      71             :   } SMState_t;
+      72             : 
+      73             :   /*//}*/
+      74             : 
+      75             : public:
+      76         658 :   StateMachine(const std::string& nodelet_name) : nodelet_name_(nodelet_name) {
+      77          47 :   }
+      78             : 
+      79      526257 :   bool isInState(const SMState_t& state) const {
+      80      526257 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) == state;
+      81             :   }
+      82             : 
+      83      115714 :   bool isInitialized() const {
+      84      115714 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) != UNINITIALIZED_STATE;
+      85             :   }
+      86             : 
+      87       60678 :   bool isInPublishableState() const {
+      88       60678 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      89       17478 :     return current_state == READY_FOR_TAKEOFF_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      90       78164 :            current_state == LANDING_STATE || current_state == DUMMY_STATE || current_state == FAILSAFE_STATE;
+      91             :   }
+      92             : 
+      93       55038 :   bool isInTheAir() const {
+      94       55038 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      95       55038 :     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        5130 :   std::string getCurrentStateString() const {
+     103        5130 :     return mrs_lib::get_mutexed(mtx_state_, sm_state_names_[current_state_]);
+     104             :   }
+     105             : 
+     106         224 :   std::string getStateAsString(const SMState_t& state) const {
+     107         224 :     return sm_state_names_[state];
+     108             :   }
+     109             : 
+     110             :   /*//{ changeState() */
+     111         112 :   bool changeState(const SMState_t& target_state) {
+     112             : 
+     113         112 :     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         112 :     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          47 :       case INITIALIZED_STATE: {
+     129          47 :         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          47 :         break;
+     135             :       }
+     136             : 
+     137          47 :       case READY_FOR_TAKEOFF_STATE: {
+     138          47 :         if (current_state_ != INITIALIZED_STATE && current_state_ != LANDED_STATE) {
+     139           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(),
+     140             :                              getStateAsString(READY_FOR_TAKEOFF_STATE).c_str(), getStateAsString(INITIALIZED_STATE).c_str(),
+     141             :                              getStateAsString(LANDED_STATE).c_str());
+     142           0 :           return false;
+     143             :         }
+     144          47 :         break;
+     145             :       }
+     146             : 
+     147           9 :       case TAKING_OFF_STATE: {
+     148           9 :         if (current_state_ != READY_FOR_TAKEOFF_STATE) {
+     149           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(TAKING_OFF_STATE).c_str(),
+     150             :                              getStateAsString(READY_FOR_TAKEOFF_STATE).c_str());
+     151           0 :           return false;
+     152             :         }
+     153           9 :         break;
+     154             :       }
+     155             : 
+     156           9 :       case FLYING_STATE: {
+     157           9 :         if (current_state_ != TAKING_OFF_STATE && current_state_ != HOVER_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     158           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s or %s", getPrintName().c_str(), getStateAsString(FLYING_STATE).c_str(),
+     159             :                              getStateAsString(TAKING_OFF_STATE).c_str(), getStateAsString(HOVER_STATE).c_str(),
+     160             :                              getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     161           0 :           return false;
+     162             :         }
+     163           9 :         break;
+     164             :       }
+     165             : 
+     166           0 :       case HOVER_STATE: {
+     167           0 :         if (current_state_ != FLYING_STATE) {
+     168           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(HOVER_STATE).c_str(),
+     169             :                              getStateAsString(FLYING_STATE).c_str());
+     170           0 :           return false;
+     171             :         }
+     172           0 :         break;
+     173             :       }
+     174             : 
+     175           0 :       case ESTIMATOR_SWITCHING_STATE: {
+     176           0 :         if (current_state_ != FLYING_STATE && current_state_ != HOVER_STATE) {
+     177           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(),
+     178             :                              getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str(), getStateAsString(FLYING_STATE).c_str(),
+     179             :                              getStateAsString(HOVER_STATE).c_str());
+     180           0 :           return false;
+     181             :         }
+     182           0 :         pre_switch_state_ = current_state_;
+     183           0 :         break;
+     184             :       }
+     185             : 
+     186           0 :       case LANDING_STATE: {
+     187           0 :         if (current_state_ != FLYING_STATE && current_state_ != HOVER_STATE) {
+     188           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(), getStateAsString(LANDING_STATE).c_str(),
+     189             :                              getStateAsString(FLYING_STATE).c_str(), getStateAsString(HOVER_STATE).c_str());
+     190           0 :           return false;
+     191             :         }
+     192           0 :         break;
+     193             :       }
+     194             : 
+     195           0 :       case LANDED_STATE: {
+     196           0 :         if (current_state_ != LANDING_STATE) {
+     197           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(LANDED_STATE).c_str(),
+     198             :                              getStateAsString(LANDING_STATE).c_str());
+     199           0 :           return false;
+     200             :         }
+     201           0 :         break;
+     202             :       }
+     203             : 
+     204           0 :       case DUMMY_STATE: {
+     205           0 :         if (current_state_ != INITIALIZED_STATE) {
+     206           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(DUMMY_STATE).c_str(),
+     207             :                              getStateAsString(INITIALIZED_STATE).c_str());
+     208           0 :           return false;
+     209             :         }
+     210           0 :         break;
+     211             :       }
+     212           0 :       case EMERGENCY_STATE: {
+     213           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(EMERGENCY_STATE).c_str());
+     214           0 :         break;
+     215             :       }
+     216             : 
+     217           0 :       case ERROR_STATE: {
+     218           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(ERROR_STATE).c_str());
+     219           0 :         break;
+     220             :       }
+     221             : 
+     222           0 :       case FAILSAFE_STATE: {
+     223           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(FAILSAFE_STATE).c_str());
+     224           0 :         break;
+     225             :       }
+     226             : 
+     227           0 :       default: {
+     228           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: rejected transition to unknown state id %d", getPrintName().c_str(), target_state);
+     229           0 :         return false;
+     230             :         break;
+     231             :       }
+     232             :     }
+     233             : 
+     234         112 :     std::scoped_lock lock(mtx_state_);
+     235             :     {
+     236         112 :       previous_state_ = current_state_;
+     237         112 :       current_state_  = target_state;
+     238             :     }
+     239             : 
+     240         112 :     ROS_INFO("[%s]: successfully changed states %s -> %s", getPrintName().c_str(), getStateAsString(previous_state_).c_str(),
+     241             :              getStateAsString(current_state_).c_str());
+     242             : 
+     243         112 :     return true;
+     244             :   }
+     245             :   /*//}*/
+     246             : 
+     247             :   /*//{ changeToPreSwitchState() */
+     248           0 :   void changeToPreSwitchState() {
+     249           0 :     changeState(pre_switch_state_);
+     250           0 :   }
+     251             :   /*//}*/
+     252             : 
+     253             : private:
+     254             :   const std::string name_ = "StateMachine";
+     255             :   const std::string nodelet_name_;
+     256             : 
+     257             :   SMState_t current_state_    = UNINITIALIZED_STATE;
+     258             :   SMState_t previous_state_   = UNINITIALIZED_STATE;
+     259             :   SMState_t pre_switch_state_ = UNINITIALIZED_STATE;
+     260             : 
+     261             :   mutable std::mutex mtx_state_;
+     262             : 
+     263             :   std::string getName() const {
+     264             :     return name_;
+     265             :   }
+     266             : 
+     267         112 :   std::string getPrintName() const {
+     268         224 :     return nodelet_name_ + "/" + name_;
+     269             :   }
+     270             : 
+     271             :   // clang-format off
+     272             :   const std::vector<std::string> sm_state_names_ = {
+     273             :   "UNINITIALIZED_STATE",
+     274             :   "INITIALIZED_STATE",
+     275             :   "READY_FOR_TAKEOFF_STATE",
+     276             :   "TAKING_OFF_STATE",
+     277             :   "FLYING_STATE",
+     278             :   "HOVER_STATE",
+     279             :   "LANDING_STATE",
+     280             :   "LANDED_STATE",
+     281             :   "ESTIMATOR_SWITCHING_STATE",
+     282             :   "DUMMY_STATE",
+     283             :   "EMERGENCY_STATE",
+     284             :   "FAILSAFE_STATE",
+     285             :   "ERROR_STATE"
+     286             :   };
+     287             :   // clang-format on
+     288             : };
+     289             : /*//}*/
+     290             : 
+     291             : /*//{ class EstimationManager */
+     292             : class EstimationManager : public nodelet::Nodelet {
+     293             : 
+     294             : private:
+     295             :   const std::string nodelet_name_ = "EstimationManager";
+     296             :   const std::string package_name_ = "mrs_uav_managers";
+     297             : 
+     298             :   ros::NodeHandle nh_;
+     299             : 
+     300             :   std::string _custom_config_;
+     301             :   std::string _platform_config_;
+     302             :   std::string _world_config_;
+     303             : 
+     304             :   std::shared_ptr<CommonHandlers_t> ch_;
+     305             : 
+     306             :   std::shared_ptr<StateMachine> sm_;
+     307             : 
+     308             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     309             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>            sh_control_input_;
+     310             : 
+     311             :   mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics> ph_diagnostics_;
+     312             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>        ph_max_flight_z_;
+     313             :   mrs_lib::PublisherHandler<mrs_msgs::UavState>              ph_uav_state_;
+     314             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_odom_main_;
+     315             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_odom_slow_;  // use topic throttler instead?
+     316             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_innovation_;
+     317             : 
+     318             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_altitude_amsl_;
+     319             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_altitude_agl_;
+     320             : 
+     321             :   mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped> ph_orientation_;
+     322             : 
+     323             :   ros::Timer timer_publish_;
+     324             :   void       timerPublish(const ros::TimerEvent& event);
+     325             : 
+     326             :   ros::Timer timer_publish_diagnostics_;
+     327             :   void       timerPublishDiagnostics(const ros::TimerEvent& event);
+     328             : 
+     329             :   ros::Timer timer_check_health_;
+     330             :   void       timerCheckHealth(const ros::TimerEvent& event);
+     331             : 
+     332             :   ros::Timer timer_initialization_;
+     333             :   void       timerInitialization(const ros::TimerEvent& event);
+     334             : 
+     335             :   ros::ServiceServer srvs_change_estimator_;
+     336             :   bool               callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     337             :   int                estimator_switch_count_ = 0;
+     338             : 
+     339             : 
+     340             :   ros::ServiceServer srvs_toggle_callbacks_;
+     341             :   bool               callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     342             :   bool               callbacks_enabled_             = false;
+     343             :   bool               callbacks_disabled_by_service_ = false;
+     344             : 
+     345             :   bool                                             callFailsafeService();
+     346             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvch_failsafe_;
+     347             :   bool                                             failsafe_call_succeeded_ = false;
+     348             : 
+     349             :   // TODO service clients
+     350             :   /* mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvc_hover_; */
+     351             :   /* mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> srvc_reference_; */
+     352             :   /* mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvc_ehover_; */
+     353             :   /* mrs_lib::ServiceClientHandler<std_srvs::SetBool> srvc_enable_callbacks_; */
+     354             : 
+     355             :   // | ------------- dynamic loading of estimators ------------- |
+     356             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>> state_estimator_loader_;  // pluginlib loader of dynamically loaded estimators
+     357             :   std::vector<std::string>                                                  estimator_names_;         // list of estimator names
+     358             :   std::vector<boost::shared_ptr<mrs_uav_managers::StateEstimator>>          estimator_list_;          // list of estimators
+     359             :   std::mutex                                                                mutex_estimator_list_;
+     360             :   std::vector<std::string>                                                  switchable_estimator_names_;
+     361             :   std::mutex                                                                mutex_switchable_estimator_names_;
+     362             :   std::string                                                               initial_estimator_name_ = "UNDEFINED_INITIAL_ESTIMATOR";
+     363             :   boost::shared_ptr<mrs_uav_managers::StateEstimator>                       initial_estimator_;
+     364             :   boost::shared_ptr<mrs_uav_managers::StateEstimator>                       active_estimator_;
+     365             :   std::mutex                                                                mutex_active_estimator_;
+     366             : 
+     367             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::AglEstimator>> agl_estimator_loader_;  // pluginlib loader of dynamically loaded estimators
+     368             :   std::string                                                             est_alt_agl_name_ = "UNDEFINED_AGL_ESTIMATOR";
+     369             :   boost::shared_ptr<mrs_uav_managers::AglEstimator>                       est_alt_agl_;
+     370             :   bool                                                                    is_using_agl_estimator_;
+     371             : 
+     372             :   double max_flight_z_;
+     373             : 
+     374             :   bool switchToHealthyEstimator();
+     375             :   void switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator);
+     376             : 
+     377             :   bool loadConfigFile(const std::string& file_path);
+     378             : 
+     379             : public:
+     380          47 :   EstimationManager() {
+     381          47 :   }
+     382             : 
+     383             :   void onInit();
+     384             : 
+     385             :   std::string getName() const;
+     386             : };
+     387             : /*//}*/
+     388             : 
+     389             : /*//{ onInit() */
+     390          47 : void EstimationManager::onInit() {
+     391             : 
+     392          47 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     393             : 
+     394          47 :   ros::Time::waitForValid();
+     395             : 
+     396          47 :   ROS_INFO("[%s]: initializing", getName().c_str());
+     397             : 
+     398          47 :   sm_ = std::make_shared<StateMachine>(nodelet_name_);
+     399             : 
+     400          47 :   ch_ = std::make_shared<CommonHandlers_t>();
+     401             : 
+     402          47 :   ch_->nodelet_name = nodelet_name_;
+     403          47 :   ch_->package_name = package_name_;
+     404             : 
+     405             :   // finish initialization in a oneshot timer, so that we don't block loading of other nodelets by the nodelet manager
+     406          47 :   timer_initialization_ = nh_.createTimer(ros::Rate(1.0), &EstimationManager::timerInitialization, this, true, true);
+     407          47 : }
+     408             : /*//}*/
+     409             : 
+     410             : // --------------------------------------------------------------
+     411             : // |                          callbacks                         |
+     412             : // --------------------------------------------------------------
+     413             : 
+     414             : // | --------------------- timer callbacks -------------------- |
+     415             : 
+     416             : /*//{ timerPublish() */
+     417       55040 : void EstimationManager::timerPublish([[maybe_unused]] const ros::TimerEvent& event) {
+     418             : 
+     419       55040 :   if (!sm_->isInitialized()) {
+     420        8252 :     return;
+     421             :   }
+     422             : 
+     423      110072 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublish", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     424             : 
+     425       55036 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     426           0 :     ROS_WARN("[%s]: Not publishing during estimator switching.", getName().c_str());
+     427           0 :     return;
+     428             :   }
+     429             : 
+     430       55036 :   if (!sm_->isInPublishableState()) {
+     431        8248 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     432        8248 :     return;
+     433             :   }
+     434             : 
+     435       46788 :   mrs_msgs::UavState uav_state;
+     436       46788 :   auto               ret = active_estimator_->getUavState();
+     437       46788 :   if (ret) {
+     438       46788 :     uav_state = ret.value();
+     439             :   } else {
+     440           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Active estimator did not provide uav_state.", getName().c_str());
+     441           0 :     return;
+     442             :   }
+     443             : 
+     444       46788 :   if (!Support::noNans(uav_state.pose.orientation)) {
+     445           0 :     ROS_ERROR("[%s]: nan in uav state orientation", getName().c_str());
+     446           0 :     return;
+     447             :   }
+     448             : 
+     449             : 
+     450       46788 :   if (active_estimator_->isMitigatingJump()) {
+     451           0 :     estimator_switch_count_++;
+     452             :   }
+     453       46788 :   uav_state.estimator_iteration = estimator_switch_count_;
+     454             : 
+     455       46788 :   scope_timer.checkpoint("get uav state");
+     456             :   // TODO state health checks
+     457             : 
+     458       46788 :   ph_uav_state_.publish(uav_state);
+     459             : 
+     460       46788 :   scope_timer.checkpoint("pub uav state");
+     461       93576 :   nav_msgs::Odometry odom_main = Support::uavStateToOdom(uav_state);
+     462             : 
+     463       46788 :   scope_timer.checkpoint("uav state to odom");
+     464       93576 :   const std::vector<double> pose_covariance = active_estimator_->getPoseCovariance();
+     465     1731120 :   for (size_t i = 0; i < pose_covariance.size(); i++) {
+     466     1684332 :     odom_main.pose.covariance[i] = pose_covariance[i];
+     467             :   }
+     468             : 
+     469       93576 :   const std::vector<double> twist_covariance = active_estimator_->getTwistCovariance();
+     470     1731120 :   for (size_t i = 0; i < twist_covariance.size(); i++) {
+     471     1684332 :     odom_main.twist.covariance[i] = twist_covariance[i];
+     472             :   }
+     473             : 
+     474       46788 :   scope_timer.checkpoint("get covariance");
+     475       46788 :   ph_odom_main_.publish(odom_main);
+     476             : 
+     477       93576 :   nav_msgs::Odometry innovation = active_estimator_->getInnovation();
+     478       46788 :   ph_innovation_.publish(innovation);
+     479             : 
+     480             : 
+     481       93576 :   mrs_msgs::Float64Stamped agl_height;
+     482             : 
+     483       46788 :   if (is_using_agl_estimator_) {
+     484       38610 :     agl_height = est_alt_agl_->getUavAglHeight();
+     485       38610 :     ph_altitude_agl_.publish(agl_height);
+     486             :   }
+     487             : }
+     488             : /*//}*/
+     489             : 
+     490             : /*//{ timerPublishDiagnostics() */
+     491        5650 : void EstimationManager::timerPublishDiagnostics([[maybe_unused]] const ros::TimerEvent& event) {
+     492             : 
+     493        5650 :   if (!sm_->isInitialized()) {
+     494         820 :     return;
+     495             :   }
+     496             : 
+     497       11300 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublishDiagnostics", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     498             : 
+     499        5650 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     500           0 :     ROS_WARN("[%s]: Not publishing diagnostics during estimator switching.", getName().c_str());
+     501           0 :     return;
+     502             :   }
+     503             : 
+     504        5650 :   if (!sm_->isInPublishableState()) {
+     505         820 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     506         820 :     return;
+     507             :   }
+     508             : 
+     509        4830 :   mrs_msgs::UavState uav_state;
+     510        4830 :   auto               ret = active_estimator_->getUavState();
+     511        4830 :   if (ret) {
+     512        4830 :     uav_state = ret.value();
+     513             :   } else {
+     514           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Active estimator did not provide uav_state.", getName().c_str());
+     515           0 :     return;
+     516             :   }
+     517             : 
+     518        4830 :   if (!Support::noNans(uav_state.pose.orientation)) {
+     519           0 :     ROS_ERROR("[%s]: nan in uav state orientation", getName().c_str());
+     520           0 :     return;
+     521             :   }
+     522             : 
+     523        9660 :   mrs_msgs::Float64Stamped agl_height;
+     524             : 
+     525        4830 :   if (is_using_agl_estimator_) {
+     526        4013 :     agl_height = est_alt_agl_->getUavAglHeight();
+     527        4013 :     ph_altitude_agl_.publish(agl_height);
+     528             :   }
+     529             : 
+     530        9660 :   mrs_msgs::Float64Stamped max_flight_z_msg;
+     531        4830 :   max_flight_z_msg.header.stamp = ros::Time::now();
+     532        4830 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     533        4830 :     max_flight_z_msg.header.frame_id = active_estimator_->getFrameId();
+     534        4830 :     max_flight_z_msg.value           = active_estimator_->getMaxFlightZ();
+     535             :   }
+     536        4830 :   max_flight_z_ = max_flight_z_msg.value;
+     537        4830 :   ph_max_flight_z_.publish(max_flight_z_msg);
+     538             : 
+     539             :   // publish diagnostics
+     540        9660 :   mrs_msgs::EstimationDiagnostics diagnostics;
+     541             : 
+     542        4830 :   diagnostics.header.stamp   = uav_state.header.stamp;
+     543        4830 :   diagnostics.child_frame_id = uav_state.child_frame_id;
+     544             : 
+     545        4830 :   diagnostics.pose         = uav_state.pose;
+     546        4830 :   diagnostics.velocity     = uav_state.velocity;
+     547        4830 :   diagnostics.acceleration = uav_state.acceleration;
+     548             : 
+     549        4830 :   diagnostics.sm_state                 = sm_->getCurrentStateString();
+     550        4830 :   diagnostics.max_flight_z             = max_flight_z_msg.value;
+     551        4830 :   diagnostics.estimator_iteration      = estimator_switch_count_;
+     552        4830 :   diagnostics.estimation_rate          = ch_->desired_uav_state_rate;
+     553        4830 :   diagnostics.running_state_estimators = estimator_names_;
+     554             : 
+     555             :   {
+     556        9660 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     557        4830 :     diagnostics.switchable_state_estimators = switchable_estimator_names_;
+     558             :   }
+     559             : 
+     560             : 
+     561        4830 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     562        4830 :     diagnostics.header.frame_id         = active_estimator_->getFrameId();
+     563        4830 :     diagnostics.current_state_estimator = active_estimator_->getName();
+     564             :   } else {
+     565           0 :     diagnostics.header.frame_id         = "";
+     566           0 :     diagnostics.current_state_estimator = "";
+     567             :   }
+     568             : 
+     569        4830 :   diagnostics.estimator_horizontal = uav_state.estimator_horizontal;
+     570        4830 :   diagnostics.estimator_vertical   = uav_state.estimator_vertical;
+     571        4830 :   diagnostics.estimator_heading    = uav_state.estimator_heading;
+     572             : 
+     573        4830 :   if (is_using_agl_estimator_) {
+     574        4013 :     diagnostics.estimator_agl_height = est_alt_agl_name_;
+     575        4013 :     diagnostics.agl_height           = agl_height.value;
+     576             :   } else {
+     577         817 :     diagnostics.estimator_agl_height = "NOT_USED";
+     578         817 :     diagnostics.agl_height           = std::nanf("");
+     579             :   }
+     580             : 
+     581        4830 :   diagnostics.platform_config = _platform_config_;
+     582        4830 :   diagnostics.custom_config   = _custom_config_;
+     583             : 
+     584        4830 :   ph_diagnostics_.publish(diagnostics);
+     585             : 
+     586        4830 :   ROS_INFO_THROTTLE(5.0, "[%s]: %s. pos: [%.2f, %.2f, %.2f] m. Estimator: %s. Max. z.: %.2f m. Estimator switches: %d.", getName().c_str(),
+     587             :                     sm_->getCurrentStateString().c_str(), uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z,
+     588             :                     active_estimator_->getName().c_str(), max_flight_z_, estimator_switch_count_);
+     589             : }
+     590             : /*//}*/
+     591             : 
+     592             : /*//{ timerCheckHealth() */
+     593       55041 : void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& event) {
+     594             : 
+     595       55041 :   if (!sm_->isInitialized()) {
+     596           3 :     return;
+     597             :   }
+     598             : 
+     599      165114 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerCheckHealth", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     600             : 
+     601             :   /*//{ start ready estimators, check switchable estimators */
+     602      110076 :   std::vector<std::string> switchable_estimator_names;
+     603      110076 :   for (auto estimator : estimator_list_) {
+     604             : 
+     605       55038 :     if (estimator->isReady()) {
+     606             :       try {
+     607         269 :         ROS_INFO_THROTTLE(1.0, "[%s]: starting the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     608         269 :         estimator->start();
+     609             :       }
+     610           0 :       catch (std::runtime_error& ex) {
+     611           0 :         ROS_ERROR("[%s]: exception caught during estimator starting: '%s'", getName().c_str(), ex.what());
+     612           0 :         ros::shutdown();
+     613             :       }
+     614             :     }
+     615             : 
+     616       55038 :     if (estimator->isRunning() && estimator->getName() != "dummy" && estimator->getName() != "ground_truth") {
+     617       53917 :       switchable_estimator_names.push_back(estimator->getName());
+     618             :     }
+     619             :   }
+     620             : 
+     621             :   {
+     622      110076 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     623       55038 :     switchable_estimator_names_ = switchable_estimator_names;
+     624             :   }
+     625             : 
+     626       55038 :   if (is_using_agl_estimator_ && est_alt_agl_->isReady()) {
+     627          40 :     est_alt_agl_->start();
+     628             :   }
+     629             : 
+     630             :   /*//}*/
+     631             : 
+     632      100740 :   if (!callbacks_disabled_by_service_ &&
+     633      100740 :       (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE))) {
+     634       37404 :     callbacks_enabled_ = true;
+     635             :   } else {
+     636       17634 :     callbacks_enabled_ = false;
+     637             :   }
+     638             : 
+     639             :   // TODO fuj if, zmenit na switch
+     640             :   // activate initial estimator
+     641       55038 :   if (sm_->isInState(StateMachine::INITIALIZED_STATE) && initial_estimator_->isRunning()) {
+     642       14270 :     std::scoped_lock lock(mutex_active_estimator_);
+     643        7135 :     ROS_INFO_THROTTLE(1.0, "[%s]: activating the initial estimator %s", getName().c_str(), initial_estimator_->getName().c_str());
+     644        7135 :     active_estimator_ = initial_estimator_;
+     645        7135 :     if (active_estimator_->getName() == "dummy") {
+     646           0 :       sm_->changeState(StateMachine::DUMMY_STATE);
+     647             :     } else {
+     648        7135 :       if (!is_using_agl_estimator_ || est_alt_agl_->isRunning()) {
+     649          47 :         sm_->changeState(StateMachine::READY_FOR_TAKEOFF_STATE);
+     650             :       } else {
+     651        7088 :         ROS_INFO_THROTTLE(1.0, "[%s]: %s agl estimator: %s to be running", getName().c_str(), Support::waiting_for_string.c_str(),
+     652             :                           est_alt_agl_->getName().c_str());
+     653             :       }
+     654             :     }
+     655             :   }
+     656             : 
+     657             :   // active estimator is in faulty state, we need to switch to healthy estimator
+     658       55038 :   if (sm_->isInTheAir() && active_estimator_->isError()) {
+     659           0 :     sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+     660             :   }
+     661             : 
+     662       55038 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     663           0 :     if (switchToHealthyEstimator()) {
+     664           0 :       sm_->changeToPreSwitchState();
+     665             :     } else {  // cannot switch to healthy estimator - failsafe necessary
+     666           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Cannot switch to any healthy estimator. Triggering failsafe.", getName().c_str());
+     667           0 :       sm_->changeState(StateMachine::FAILSAFE_STATE);
+     668             :     }
+     669             :   }
+     670             : 
+     671       55038 :   if (sm_->isInState(StateMachine::FAILSAFE_STATE)) {
+     672           0 :     if (!failsafe_call_succeeded_ && callFailsafeService()) {
+     673           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: failsafe called successfully", getName().c_str());
+     674           0 :       failsafe_call_succeeded_ = true;
+     675             :     }
+     676           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: we are in failsafe state", getName().c_str());
+     677             :   }
+     678             : 
+     679       55038 :   if (sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE)) {
+     680       39192 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == "LandoffTracker") {
+     681           9 :       sm_->changeState(StateMachine::TAKING_OFF_STATE);
+     682             :     }
+     683             :   }
+     684             : 
+     685       55038 :   if (sm_->isInState(StateMachine::TAKING_OFF_STATE)) {
+     686        5729 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker != "LandoffTracker") {
+     687           9 :       sm_->changeState(StateMachine::FLYING_STATE);
+     688             :     }
+     689             :   }
+     690             : 
+     691       55038 :   if (sm_->isInState(StateMachine::FLYING_STATE)) {
+     692        1926 :     if ((ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     693         135 :       ROS_WARN_THROTTLE(1.0, "[%s]: not received control input for %.4fs, estimation suboptimal, potentially unstable", getName().c_str(),
+     694             :                         (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     695             :     }
+     696             :   }
+     697             : }
+     698             : /*//}*/
+     699             : 
+     700             : /*//{ timerInitialization() */
+     701          47 : void EstimationManager::timerInitialization([[maybe_unused]] const ros::TimerEvent& event) {
+     702             : 
+     703          94 :   mrs_lib::ParamLoader param_loader(nh_, getName());
+     704             : 
+     705          47 :   param_loader.loadParam("custom_config", _custom_config_);
+     706          47 :   param_loader.loadParam("platform_config", _platform_config_);
+     707          47 :   param_loader.loadParam("world_config", _world_config_);
+     708             : 
+     709          47 :   if (_custom_config_ != "") {
+     710          47 :     param_loader.addYamlFile(_custom_config_);
+     711             :   }
+     712             : 
+     713          47 :   if (_platform_config_ != "") {
+     714          47 :     param_loader.addYamlFile(_platform_config_);
+     715             :   }
+     716             : 
+     717          47 :   if (_world_config_ != "") {
+     718          47 :     param_loader.addYamlFile(_world_config_);
+     719             :   }
+     720             : 
+     721          47 :   param_loader.addYamlFileFromParam("private_config");
+     722          47 :   param_loader.addYamlFileFromParam("public_config");
+     723          47 :   param_loader.addYamlFileFromParam("estimators_config");
+     724          47 :   param_loader.addYamlFileFromParam("active_estimators_config");
+     725             : 
+     726          47 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     727             : 
+     728             :   /*//{ load world_origin parameters */
+     729             : 
+     730          94 :   std::string world_origin_units;
+     731          47 :   bool        is_origin_param_ok = true;
+     732          47 :   double      world_origin_x     = 0;
+     733          47 :   double      world_origin_y     = 0;
+     734             : 
+     735          47 :   param_loader.loadParam("world_origin/units", world_origin_units);
+     736             : 
+     737          47 :   if (Support::toLowercase(world_origin_units) == "utm") {
+     738           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getName().c_str());
+     739           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     740           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     741             : 
+     742          47 :   } else if (Support::toLowercase(world_origin_units) == "latlon") {
+     743             :     double lat, lon;
+     744          47 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getName().c_str());
+     745          47 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     746          47 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     747          47 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     748          47 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getName().c_str(), world_origin_x, world_origin_y);
+     749             : 
+     750             :   } else {
+     751           0 :     ROS_ERROR("[%s]: world_origin_units must be (\"UTM\"|\"LATLON\"). Got '%s'", getName().c_str(), world_origin_units.c_str());
+     752           0 :     ros::shutdown();
+     753             :   }
+     754             : 
+     755          47 :   ch_->world_origin.x = world_origin_x;
+     756          47 :   ch_->world_origin.y = world_origin_y;
+     757             : 
+     758          47 :   if (!is_origin_param_ok) {
+     759           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getName().c_str());
+     760           0 :     ros::shutdown();
+     761             :   }
+     762             :   /*//}*/
+     763             : 
+     764          47 :   param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/");
+     765             : 
+     766             :   /*//{ load parameters into common handlers */
+     767          47 :   param_loader.loadParam("frame_id/fcu", ch_->frames.fcu);
+     768          47 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + ch_->frames.fcu;
+     769             : 
+     770          47 :   param_loader.loadParam("frame_id/fcu_untilted", ch_->frames.fcu_untilted);
+     771          47 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + ch_->frames.fcu_untilted;
+     772             : 
+     773          47 :   param_loader.loadParam("frame_id/rtk_antenna", ch_->frames.rtk_antenna);
+     774          47 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     775             : 
+     776          47 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getName());
+     777          47 :   ch_->transformer->retryLookupNewest(true);
+     778             : 
+     779          47 :   param_loader.loadParam("rate/diagnostics", ch_->desired_diagnostics_rate);
+     780             : 
+     781             :   /*//}*/
+     782             : 
+     783             :   /*//{ load parameters */
+     784             : 
+     785             :   /*//{ publish debug topics parameters */
+     786          47 :   param_loader.loadParam("debug_topics/input", ch_->debug_topics.input);
+     787          47 :   param_loader.loadParam("debug_topics/output", ch_->debug_topics.output);
+     788          47 :   param_loader.loadParam("debug_topics/state", ch_->debug_topics.state);
+     789          47 :   param_loader.loadParam("debug_topics/covariance", ch_->debug_topics.covariance);
+     790          47 :   param_loader.loadParam("debug_topics/innovation", ch_->debug_topics.innovation);
+     791          47 :   param_loader.loadParam("debug_topics/diagnostics", ch_->debug_topics.diag);
+     792          47 :   param_loader.loadParam("debug_topics/correction", ch_->debug_topics.correction);
+     793          47 :   param_loader.loadParam("debug_topics/correction_delay", ch_->debug_topics.corr_delay);
+     794             :   /*//}*/
+     795             : 
+     796             :   /*//}*/
+     797             : 
+     798          94 :   mrs_lib::SubscribeHandlerOptions shopts;
+     799          47 :   shopts.nh                 = nh_;
+     800          47 :   shopts.node_name          = getName();
+     801          47 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     802          47 :   shopts.threadsafe         = true;
+     803          47 :   shopts.autostart          = true;
+     804          47 :   shopts.queue_size         = 10;
+     805          47 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     806             : 
+     807             :   /*//{ wait for hw api message */
+     808             : 
+     809             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_ =
+     810         141 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     811          94 :   while (!sh_hw_api_capabilities_.hasMsg()) {
+     812          47 :     ROS_INFO("[%s]: %s hw_api_capabilities message at topic: %s", getName().c_str(), Support::waiting_for_string.c_str(),
+     813             :              sh_hw_api_capabilities_.topicName().c_str());
+     814          47 :     ros::Duration(1.0).sleep();
+     815             :   }
+     816             : 
+     817          94 :   mrs_msgs::HwApiCapabilitiesConstPtr hw_api_capabilities = sh_hw_api_capabilities_.getMsg();
+     818             :   /*//}*/
+     819             : 
+     820             :   /*//{ wait for desired uav_state rate */
+     821          47 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     822         104 :   while (!sh_control_manager_diag_.hasMsg()) {
+     823          57 :     ROS_INFO("[%s]: %s control_manager_diagnostics message at topic: %s", getName().c_str(), Support::waiting_for_string.c_str(),
+     824             :              sh_control_manager_diag_.topicName().c_str());
+     825          57 :     ros::Duration(1.0).sleep();
+     826             :   }
+     827             : 
+     828          94 :   mrs_msgs::ControlManagerDiagnosticsConstPtr control_manager_diag_msg = sh_control_manager_diag_.getMsg();
+     829          47 :   ch_->desired_uav_state_rate                                          = control_manager_diag_msg->desired_uav_state_rate;
+     830          47 :   ROS_INFO("[%s]: The estimation is running at: %.2f Hz", getName().c_str(), ch_->desired_uav_state_rate);
+     831             :   /*//}*/
+     832             : 
+     833             :   /*//{ initialize subscribers */
+     834             : 
+     835          47 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     836             : 
+     837             :   /*//}*/
+     838             : 
+     839             :   /*//{ load state estimator plugins */
+     840          47 :   param_loader.loadParam("state_estimators", estimator_names_);
+     841             : 
+     842          47 :   state_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>>("mrs_uav_managers", "mrs_uav_managers::StateEstimator");
+     843             : 
+     844          94 :   for (size_t i = 0; i < estimator_names_.size(); i++) {
+     845             : 
+     846          94 :     const std::string estimator_name = estimator_names_[i];
+     847             : 
+     848             :     // load the estimator parameters
+     849          94 :     std::string address;
+     850          47 :     param_loader.loadParam(estimator_name + "/address", address);
+     851             : 
+     852             :     try {
+     853          47 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     854          47 :       estimator_list_.push_back(state_estimator_loader_->createInstance(address.c_str()));
+     855             :     }
+     856           0 :     catch (pluginlib::CreateClassException& ex1) {
+     857           0 :       ROS_ERROR("[%s]: CreateClassException for the estimator '%s'", getName().c_str(), address.c_str());
+     858           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex1.what());
+     859           0 :       ros::shutdown();
+     860             :     }
+     861           0 :     catch (pluginlib::PluginlibException& ex) {
+     862           0 :       ROS_ERROR("[%s]: PluginlibException for the estimator '%s'", getName().c_str(), address.c_str());
+     863           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex.what());
+     864           0 :       ros::shutdown();
+     865             :     }
+     866             :   }
+     867             : 
+     868             :   /*//{ load agl estimator plugins */
+     869          47 :   param_loader.loadParam("agl_height_estimator", est_alt_agl_name_);
+     870          47 :   is_using_agl_estimator_ = est_alt_agl_name_ != "";
+     871          47 :   ROS_WARN_COND(!is_using_agl_estimator_, "[%s]: not using AGL estimator for min height safe checking", getName().c_str());
+     872             : 
+     873             : 
+     874          47 :   if (is_using_agl_estimator_) {
+     875             : 
+     876          40 :     agl_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::AglEstimator>>("mrs_uav_managers", "mrs_uav_managers::AglEstimator");
+     877             : 
+     878             :     // load the estimator parameters
+     879          80 :     std::string address;
+     880          40 :     param_loader.loadParam(est_alt_agl_name_ + "/address", address);
+     881             : 
+     882             :     try {
+     883          40 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     884          40 :       est_alt_agl_ = agl_estimator_loader_->createInstance(address.c_str());
+     885             :     }
+     886           0 :     catch (pluginlib::CreateClassException& ex1) {
+     887           0 :       ROS_ERROR("[%s]: CreateClassException for the estimator '%s'", getName().c_str(), address.c_str());
+     888           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex1.what());
+     889           0 :       ros::shutdown();
+     890             :     }
+     891           0 :     catch (pluginlib::PluginlibException& ex) {
+     892           0 :       ROS_ERROR("[%s]: PluginlibException for the estimator '%s'", getName().c_str(), address.c_str());
+     893           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex.what());
+     894           0 :       ros::shutdown();
+     895             :     }
+     896             :   }
+     897             :   /*//}*/
+     898             : 
+     899          47 :   ROS_INFO("[%s]: estimators were loaded", getName().c_str());
+     900             :   /*//}*/
+     901             : 
+     902             :   /*//{ check whether initial estimator was loaded */
+     903          47 :   param_loader.loadParam("initial_state_estimator", initial_estimator_name_);
+     904          47 :   bool initial_estimator_found = false;
+     905          47 :   for (auto estimator : estimator_list_) {
+     906          47 :     if (estimator->getName() == initial_estimator_name_) {
+     907          47 :       initial_estimator_      = estimator;
+     908          47 :       initial_estimator_found = true;
+     909          47 :       break;
+     910             :     }
+     911             :   }
+     912             : 
+     913          47 :   if (!initial_estimator_found) {
+     914           0 :     ROS_ERROR("[%s]: initial estimator %s could not be found among loaded estimators. shutting down", getName().c_str(), initial_estimator_name_.c_str());
+     915           0 :     ros::shutdown();
+     916             :   }
+     917             :   /*//}*/
+     918             : 
+     919             :   /*//{ initialize estimators */
+     920          94 :   for (auto estimator : estimator_list_) {
+     921             : 
+     922             :     // create private handlers
+     923          94 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     924             : 
+     925          47 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     926          47 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, estimator->getName()), "EstimationManager/" + estimator->getName());
+     927             : 
+     928          47 :     if (_custom_config_ != "") {
+     929          47 :       ph->param_loader->addYamlFile(_custom_config_);
+     930             :     }
+     931             : 
+     932          47 :     if (_platform_config_ != "") {
+     933          47 :       ph->param_loader->addYamlFile(_platform_config_);
+     934             :     }
+     935             : 
+     936          47 :     if (_world_config_ != "") {
+     937          47 :       ph->param_loader->addYamlFile(_world_config_);
+     938             :     }
+     939             : 
+     940             :     try {
+     941          47 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     942          47 :       estimator->initialize(nh_, ch_, ph);
+     943             :     }
+     944           0 :     catch (std::runtime_error& ex) {
+     945           0 :       ROS_ERROR("[%s]: exception caught during estimator initialization: '%s'", getName().c_str(), ex.what());
+     946           0 :       ros::shutdown();
+     947             :     }
+     948             : 
+     949          47 :     if (!estimator->isCompatibleWithHwApi(hw_api_capabilities)) {
+     950           0 :       ROS_ERROR("[%s]: estimator %s is not compatible with the hw api. Shutting down.", getName().c_str(), estimator->getName().c_str());
+     951           0 :       ros::shutdown();
+     952             :     }
+     953             :   }
+     954             : 
+     955             :   // | ----------- agl height estimator initialization ---------- |
+     956          47 :   if (is_using_agl_estimator_) {
+     957             : 
+     958          80 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     959             : 
+     960          40 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     961          40 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, est_alt_agl_->getName()), "EstimationManager/" + est_alt_agl_->getName());
+     962             : 
+     963          40 :     if (_custom_config_ != "") {
+     964          40 :       ph->param_loader->addYamlFile(_custom_config_);
+     965             :     }
+     966             : 
+     967          40 :     if (_platform_config_ != "") {
+     968          40 :       ph->param_loader->addYamlFile(_platform_config_);
+     969             :     }
+     970             : 
+     971          40 :     if (_world_config_ != "") {
+     972          40 :       ph->param_loader->addYamlFile(_world_config_);
+     973             :     }
+     974             : 
+     975             :     try {
+     976          40 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), est_alt_agl_->getName().c_str());
+     977          40 :       est_alt_agl_->initialize(nh_, ch_, ph);
+     978             :     }
+     979           0 :     catch (std::runtime_error& ex) {
+     980           0 :       ROS_ERROR("[%s]: exception caught during estimator initialization: '%s'", getName().c_str(), ex.what());
+     981           0 :       ros::shutdown();
+     982             :     }
+     983             : 
+     984          40 :     if (!est_alt_agl_->isCompatibleWithHwApi(hw_api_capabilities)) {
+     985           0 :       ROS_ERROR("[%s]: estimator %s is not compatible with the hw api. Shutting down.", getName().c_str(), est_alt_agl_->getName().c_str());
+     986           0 :       ros::shutdown();
+     987             :     }
+     988             :   }
+     989             : 
+     990          47 :   ROS_INFO("[%s]: estimators were initialized", getName().c_str());
+     991             : 
+     992             :   /*//}*/
+     993             : 
+     994             :   /*//{ initialize publishers */
+     995          47 :   ph_uav_state_    = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh_, "uav_state_out", 10);
+     996          47 :   ph_odom_main_    = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "odom_main_out", 10);
+     997          47 :   ph_innovation_   = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "innovation_out", 10);
+     998          47 :   ph_diagnostics_  = mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics>(nh_, "diagnostics_out", 10);
+     999          47 :   ph_max_flight_z_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "max_flight_z_agl_out", 10);
+    1000          47 :   ph_altitude_agl_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "height_agl_out", 10);
+    1001             : 
+    1002             :   /*//}*/
+    1003             : 
+    1004             :   /*//{ initialize timers */
+    1005          47 :   timer_publish_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerPublish, this);
+    1006             : 
+    1007          47 :   timer_publish_diagnostics_ = nh_.createTimer(ros::Rate(ch_->desired_diagnostics_rate), &EstimationManager::timerPublishDiagnostics, this);
+    1008             : 
+    1009          47 :   timer_check_health_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerCheckHealth, this);
+    1010             :   /*//}*/
+    1011             : 
+    1012             :   /*//{ initialize service clients */
+    1013             : 
+    1014          47 :   srvch_failsafe_.initialize(nh_, "failsafe_out");
+    1015             : 
+    1016             :   /*//}*/
+    1017             : 
+    1018             :   /*//{ initialize service servers */
+    1019          47 :   srvs_change_estimator_ = nh_.advertiseService("change_estimator_in", &EstimationManager::callbackChangeEstimator, this);
+    1020          47 :   srvs_toggle_callbacks_ = nh_.advertiseService("toggle_service_callbacks_in", &EstimationManager::callbackToggleServiceCallbacks, this);
+    1021             :   /*//}*/
+    1022             : 
+    1023             :   /*//{ initialize scope timer */
+    1024          47 :   param_loader.loadParam("scope_timer/enabled", ch_->scope_timer.enabled);
+    1025          94 :   std::string       filepath;
+    1026          94 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/scope_timer.txt";
+    1027          47 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+    1028             :   /*//}*/
+    1029             : 
+    1030          47 :   if (!param_loader.loadedSuccessfully()) {
+    1031           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getName().c_str());
+    1032           0 :     ros::shutdown();
+    1033             :   }
+    1034             : 
+    1035          47 :   sm_->changeState(StateMachine::INITIALIZED_STATE);
+    1036             : 
+    1037          47 :   ROS_INFO("[%s]: initialized", getName().c_str());
+    1038          47 : }
+    1039             : /*//}*/
+    1040             : 
+    1041             : // | -------------------- service callbacks ------------------- |
+    1042             : 
+    1043             : /*//{ callbackChangeEstimator() */
+    1044           0 : bool EstimationManager::callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    1045             : 
+    1046           0 :   if (!sm_->isInitialized()) {
+    1047           0 :     return false;
+    1048             :   }
+    1049             : 
+    1050           0 :   if (!callbacks_enabled_) {
+    1051           0 :     res.success = false;
+    1052           0 :     res.message = ("Service callbacks are disabled");
+    1053           0 :     ROS_WARN("[%s]: Ignoring service call. Callbacks are disabled.", getName().c_str());
+    1054           0 :     return true;
+    1055             :   }
+    1056             : 
+    1057           0 :   if (req.value == "dummy" || req.value == "ground_truth") {
+    1058           0 :     res.success = false;
+    1059           0 :     std::stringstream ss;
+    1060           0 :     ss << "Switching to " << req.value << " estimator is not allowed.";
+    1061           0 :     res.message = ss.str();
+    1062           0 :     ROS_WARN("[%s]: Switching to %s estimator is not allowed.", getName().c_str(), req.value.c_str());
+    1063           0 :     return true;
+    1064             :   }
+    1065             : 
+    1066             :   // we do not want the switch to be disturbed by a service call
+    1067           0 :   callbacks_enabled_ = false;
+    1068             : 
+    1069           0 :   bool                                                target_estimator_found = false;
+    1070           0 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1071           0 :   for (auto estimator : estimator_list_) {
+    1072           0 :     if (estimator->getName() == req.value) {
+    1073           0 :       target_estimator       = estimator;
+    1074           0 :       target_estimator_found = true;
+    1075           0 :       break;
+    1076             :     }
+    1077             :   }
+    1078             : 
+    1079           0 :   if (target_estimator_found) {
+    1080             : 
+    1081           0 :     if (target_estimator->isRunning()) {
+    1082           0 :       sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+    1083           0 :       switchToEstimator(target_estimator);
+    1084           0 :       sm_->changeToPreSwitchState();
+    1085             :     } else {
+    1086           0 :       ROS_WARN("[%s]: Switch to not running estimator %s requested", getName().c_str(), req.value.c_str());
+    1087           0 :       res.success = false;
+    1088           0 :       res.message = ("Requested estimator is not running");
+    1089           0 :       return true;
+    1090             :     }
+    1091             : 
+    1092             :   } else {
+    1093           0 :     ROS_WARN("[%s]: Switch to invalid estimator %s requested", getName().c_str(), req.value.c_str());
+    1094           0 :     res.success = false;
+    1095           0 :     res.message = ("Not a valid estimator type");
+    1096           0 :     return true;
+    1097             :   }
+    1098             : 
+    1099           0 :   res.success = true;
+    1100           0 :   res.message = "Estimator switch successful";
+    1101             : 
+    1102             :   // allow service calllbacks after switch again
+    1103           0 :   callbacks_enabled_ = true;
+    1104             : 
+    1105           0 :   return true;
+    1106             : }
+    1107             : /*//}*/
+    1108             : 
+    1109             : /* //{ callbackToggleServiceCallbacks() */
+    1110          66 : bool EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1111             : 
+    1112          66 :   if (!sm_->isInitialized()) {
+    1113           0 :     ROS_ERROR("[%s]: service for toggling callbacks is not available before initialization.", getName().c_str());
+    1114           0 :     return false;
+    1115             :   }
+    1116             : 
+    1117          66 :   callbacks_disabled_by_service_ = !req.data;
+    1118             : 
+    1119          66 :   res.success = true;
+    1120          66 :   res.message = (callbacks_disabled_by_service_ ? "Service callbacks disabled" : "Service callbacks enabled");
+    1121             : 
+    1122          66 :   if (callbacks_disabled_by_service_) {
+    1123             : 
+    1124          19 :     ROS_INFO("[%s]: Service callbacks disabled.", getName().c_str());
+    1125             : 
+    1126             :   } else {
+    1127             : 
+    1128          47 :     ROS_INFO("[%s]: Service callbacks enabled", getName().c_str());
+    1129             :   }
+    1130             : 
+    1131          66 :   return true;
+    1132             : }
+    1133             : 
+    1134             : //}
+    1135             : 
+    1136             : 
+    1137             : // --------------------------------------------------------------
+    1138             : // |                        other methods                       |
+    1139             : // --------------------------------------------------------------
+    1140             : //
+    1141             : /*//{ switchToHealthyEstimator() */
+    1142           0 : bool EstimationManager::switchToHealthyEstimator() {
+    1143             : 
+    1144             :   // available estimators should be specified in decreasing priority order in config file
+    1145           0 :   for (auto estimator : estimator_list_) {
+    1146           0 :     if (estimator->isRunning()) {
+    1147           0 :       switchToEstimator(estimator);
+    1148           0 :       return true;
+    1149             :     }
+    1150             :   }
+    1151           0 :   return false;  // no other estimator is running
+    1152             : }
+    1153             : /*//}*/
+    1154             : 
+    1155             : /*//{ switchToEstimator() */
+    1156           0 : void EstimationManager::switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator) {
+    1157             : 
+    1158           0 :   std::scoped_lock lock(mutex_active_estimator_);
+    1159           0 :   ROS_INFO("[%s]: switching estimator from %s to %s", getName().c_str(), active_estimator_->getName().c_str(), target_estimator->getName().c_str());
+    1160           0 :   active_estimator_ = target_estimator;
+    1161           0 :   estimator_switch_count_++;
+    1162           0 : }
+    1163             : /*//}*/
+    1164             : 
+    1165             : /*//{ callFailsafeService() */
+    1166           0 : bool EstimationManager::callFailsafeService() {
+    1167           0 :   std_srvs::Trigger srv_out;
+    1168           0 :   return srvch_failsafe_.call(srv_out);
+    1169             : }
+    1170             : /*//}*/
+    1171             : 
+    1172             : /*//{ getName() */
+    1173        1340 : std::string EstimationManager::getName() const {
+    1174        1340 :   return nodelet_name_;
+    1175             : }
+    1176             : /*//}*/
+    1177             : 
+    1178             : /* loadConfigFile() //{ */
+    1179             : 
+    1180           0 : bool EstimationManager::loadConfigFile(const std::string& file_path) {
+    1181             : 
+    1182           0 :   const std::string name_space = nh_.getNamespace() + "/";
+    1183             : 
+    1184           0 :   ROS_INFO("[%s]: loading '%s' under the namespace '%s'", getName().c_str(), file_path.c_str(), name_space.c_str());
+    1185             : 
+    1186             :   // load the user-requested file
+    1187             :   {
+    1188           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    1189           0 :     int         result  = std::system(command.c_str());
+    1190             : 
+    1191           0 :     if (result != 0) {
+    1192           0 :       ROS_ERROR("[%s]: failed to load '%s'", getName().c_str(), file_path.c_str());
+    1193           0 :       return false;
+    1194             :     }
+    1195             :   }
+    1196             : 
+    1197             :   // load the platform config
+    1198           0 :   if (_platform_config_ != "") {
+    1199           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    1200           0 :     int         result  = std::system(command.c_str());
+    1201             : 
+    1202           0 :     if (result != 0) {
+    1203           0 :       ROS_ERROR("[%s]: failed to load the platform config file '%s'", getName().c_str(), _platform_config_.c_str());
+    1204           0 :       return false;
+    1205             :     }
+    1206             :   }
+    1207             : 
+    1208             :   // load the custom config
+    1209           0 :   if (_custom_config_ != "") {
+    1210           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    1211           0 :     int         result  = std::system(command.c_str());
+    1212             : 
+    1213           0 :     if (result != 0) {
+    1214           0 :       ROS_ERROR("[%s]: failed to load the custom config file '%s'", getName().c_str(), _custom_config_.c_str());
+    1215           0 :       return false;
+    1216             :     }
+    1217             :   }
+    1218             : 
+    1219           0 :   return true;
+    1220             : }
+    1221             : 
+    1222             : //}
+    1223             : 
+    1224             : }  // namespace estimation_manager
+    1225             : 
+    1226             : }  // namespace mrs_uav_managers
+    1227             : 
+    1228             : #include <pluginlib/class_list_macros.h>
+    1229          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::estimation_manager::EstimationManager, nodelet::Nodelet)
+
+
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:618571.8 %
Date:2023-12-06 10:06:33Functions: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)1036
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)1036
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const1036
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const1569
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const2072
mrs_uav_managers::Estimator::isStarted() const4489
mrs_uav_managers::Estimator::getMaxFlightZ() const5002
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)92757
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&, double)92795
mrs_uav_managers::Estimator::isReady() const101801
mrs_uav_managers::Estimator::getName[abi:cxx11]() const177937
mrs_uav_managers::Estimator::isMitigatingJump() const196198
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const201280
mrs_uav_managers::Estimator::publishDiagnostics() const289639
mrs_uav_managers::Estimator::isError() const376860
mrs_uav_managers::Estimator::isRunning() const451215
mrs_uav_managers::Estimator::isInitialized() const1102973
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const3046085
mrs_uav_managers::Estimator::getCurrentSmState() const3247841
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:618571.8 %
Date:2023-12-06 10:06:33Functions: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)1036
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)92757
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)92795
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&)1036
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const201280
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const1569
mrs_uav_managers::Estimator::getMaxFlightZ() const5002
mrs_uav_managers::Estimator::isInitialized() const1102973
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const2072
mrs_uav_managers::Estimator::isMitigatingJump() const196198
mrs_uav_managers::Estimator::getCurrentSmState() const3247841
mrs_uav_managers::Estimator::publishDiagnostics() const289639
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const1036
mrs_uav_managers::Estimator::getName[abi:cxx11]() const177937
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isError() const376860
mrs_uav_managers::Estimator::isReady() const101801
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const3046085
mrs_uav_managers::Estimator::isRunning() const451215
mrs_uav_managers::Estimator::isStarted() const4489
mrs_uav_managers::Estimator::isStopped() const0
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:618571.8 %
Date:2023-12-06 10:06:33Functions: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        1036 : bool Estimator::changeState(SMStates_t new_state) {
+       9             : 
+      10        1036 :   if (new_state == getCurrentSmState()) {
+      11           0 :     return true;
+      12             :   }
+      13             : 
+      14        1036 :   previous_sm_state_ = getCurrentSmState();
+      15        1036 :   setCurrentSmState(new_state);
+      16             : 
+      17        1036 :   ROS_INFO("[%s]: Switching sm state %s -> %s", getPrintName().c_str(), getSmStateString(previous_sm_state_).c_str(), getCurrentSmStateString().c_str());
+      18        1036 :   return true;
+      19             : }
+      20             : /*//}*/
+      21             : 
+      22             : /*//{ isInState() */
+      23     3046085 : bool Estimator::isInState(const SMStates_t& state_in) const {
+      24     3046085 :   return state_in == getCurrentSmState();
+      25             : }
+      26             : /*//}*/
+      27             : 
+      28             : /*//{ isInitialized() */
+      29     1102973 : bool Estimator::isInitialized() const {
+      30     1102973 :   return !isInState(UNINITIALIZED_STATE);
+      31             : }
+      32             : /*//}*/
+      33             : 
+      34             : /*//{ isReady() */
+      35      101801 : bool Estimator::isReady() const {
+      36      101801 :   return isInState(READY_STATE);
+      37             : }
+      38             : /*//}*/
+      39             : 
+      40             : /*//{ isStarted() */
+      41        4489 : bool Estimator::isStarted() const {
+      42        4489 :   return isInState(STARTED_STATE);
+      43             : }
+      44             : /*//}*/
+      45             : 
+      46             : /*//{ isRunning() */
+      47      451215 : bool Estimator::isRunning() const {
+      48      451215 :   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      376860 : bool Estimator::isError() const {
+      60      376860 :   return isInState(ERROR_STATE);
+      61             : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ getCurrentSmState() */
+      65     3247841 : SMStates_t Estimator::getCurrentSmState() const {
+      66     3247841 :   return current_sm_state_;
+      67             : }
+      68             : /*//}*/
+      69             : 
+      70             : /*//{ setCurrentSmState() */
+      71        1036 : void Estimator::setCurrentSmState(const SMStates_t& new_state) {
+      72        1036 :   std::scoped_lock lock(mutex_current_state_);
+      73        1036 :   current_sm_state_ = new_state;
+      74        1036 : }
+      75             : /*//}*/
+      76             : 
+      77             : /*//{ getSmStateString() */
+      78        2072 : std::string Estimator::getSmStateString(const SMStates_t& state) const {
+      79        2072 :   return sm::state_names[state];
+      80             : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ getCurrentSmStateName() */
+      84        1036 : std::string Estimator::getCurrentSmStateString(void) const {
+      85        2072 :   return getSmStateString(getCurrentSmState());
+      86             : }
+      87             : /*//}*/
+      88             : 
+      89             : /*//{ isMitigatingJump() */
+      90      196198 : bool Estimator::isMitigatingJump(void) const {
+      91      196198 :   return is_mitigating_jump_;
+      92             : }
+      93             : /*//}*/
+      94             : 
+      95             : /*//{ getName() */
+      96      177937 : std::string Estimator::getName(void) const {
+      97      177937 :   return name_;
+      98             : }
+      99             : /*//}*/
+     100             : 
+     101             : /*//{ getPrintName() */
+     102        1569 : std::string Estimator::getPrintName(void) const {
+     103        3138 :   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      201280 : std::string Estimator::getFrameId(void) const {
+     115      201280 :   return ns_frame_id_;
+     116             : }
+     117             : /*//}*/
+     118             : 
+     119             : /*//{ getMaxFlightZ() */
+     120        5002 : double Estimator::getMaxFlightZ(void) const {
+     121        5002 :   return max_flight_z_;
+     122             : }
+     123             : /*//}*/
+     124             : 
+     125             : /*//{ publishDiagnostics() */
+     126      289639 : void Estimator::publishDiagnostics() const {
+     127             : 
+     128      289639 :   if (!ch_->debug_topics.diag) {
+     129      289624 :     return;
+     130             :   }
+     131             : 
+     132           0 :   mrs_msgs::EstimatorDiagnostics msg;
+     133           0 :   msg.header.stamp       = ros::Time::now();
+     134           0 :   msg.header.frame_id    = getFrameId();
+     135           0 :   msg.estimator_name     = getName();
+     136           0 :   msg.estimator_type     = getType();
+     137           0 :   msg.estimator_sm_state = getCurrentSmStateString();
+     138             : 
+     139           0 :   ph_diagnostics_.publish(msg);
+     140             : }
+     141             : /*//}*/
+     142             : 
+     143             : /*//{ getAccGlobal() */
+     144           0 : tf2::Vector3 Estimator::getAccGlobal(const sensor_msgs::Imu::ConstPtr& input_msg, const double hdg) {
+     145             : 
+     146           0 :   geometry_msgs::Vector3Stamped acc_stamped;
+     147           0 :   acc_stamped.vector = input_msg->linear_acceleration;
+     148           0 :   acc_stamped.header = input_msg->header;
+     149           0 :   return getAccGlobal(acc_stamped, hdg);
+     150             : }
+     151             : 
+     152       92795 : tf2::Vector3 Estimator::getAccGlobal(const mrs_msgs::EstimatorInput::ConstPtr& input_msg, const double hdg) {
+     153             : 
+     154      185024 :   geometry_msgs::Vector3Stamped acc_stamped;
+     155       92595 :   acc_stamped.vector = input_msg->control_acceleration;
+     156       92540 :   acc_stamped.header = input_msg->header;
+     157      184143 :   return getAccGlobal(acc_stamped, hdg);
+     158             : }
+     159             : 
+     160       92757 : tf2::Vector3 Estimator::getAccGlobal(const geometry_msgs::Vector3Stamped& acc_stamped, const double hdg) {
+     161             : 
+     162             :   // untilt the desired acceleration vector
+     163      184823 :   geometry_msgs::Vector3Stamped des_acc;
+     164       92464 :   geometry_msgs::Vector3        des_acc_untilted;
+     165       92542 :   des_acc.vector.x        = acc_stamped.vector.x;
+     166       92542 :   des_acc.vector.y        = acc_stamped.vector.y;
+     167       92542 :   des_acc.vector.z        = acc_stamped.vector.z;
+     168       92542 :   des_acc.header.frame_id = ch_->frames.ns_fcu;
+     169       92626 :   des_acc.header.stamp    = acc_stamped.header.stamp;
+     170      185312 :   auto response_acc       = ch_->transformer->transformSingle(des_acc, ch_->frames.ns_fcu_untilted);
+     171       92811 :   if (response_acc) {
+     172       92811 :     des_acc_untilted.x = response_acc.value().vector.x;
+     173       92811 :     des_acc_untilted.y = response_acc.value().vector.y;
+     174       92811 :     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       92811 :   const tf2::Vector3 des_acc_global = Support::rotateVecByHdg(des_acc_untilted, hdg);
+     182             : 
+     183      184105 :   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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Date:2023-12-06 10:06:33Functions:33100.0 %
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mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const40
mrs_uav_managers::AglEstimator::publishAglHeight() const44074
mrs_uav_managers::AglEstimator::publishCovariance() const44074
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mrs_uav_managers::AglEstimator::publishAglHeight() const44074
mrs_uav_managers::AglEstimator::publishCovariance() const44074
mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const40
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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       44074 : void AglEstimator::publishAglHeight() const {
+       8       44074 :   ph_agl_height_.publish(mrs_lib::get_mutexed(mtx_agl_height_, agl_height_));
+       9       44074 : }
+      10             : /*//}*/
+      11             : 
+      12             : /*//{ publishCovariance() */
+      13       44074 : void AglEstimator::publishCovariance() const {
+      14             : 
+      15       44074 :   if (!ch_->debug_topics.covariance) {
+      16       44074 :     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          40 : bool AglEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+      25             : 
+      26          40 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      27          40 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      28             : 
+      29          40 :   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          40 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+      35          40 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+      36          40 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+      37          40 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+      38          40 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+      39          40 :   ph_->param_loader->loadParam("requires/position", requires_position);
+      40          40 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+      41          40 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+      42          40 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+      43             : 
+      44          40 :   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          40 :   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          40 :   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          40 :   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          40 :   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          40 :   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          40 :   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          40 :   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          40 :   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          40 :   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          40 :   return true;
+      95             : }
+      96             : /*//}*/
+      97             : 
+      98             : }  // namespace mrs_uav_managers
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agl_estimator.cpp +
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Date:2023-12-06 10:06:33Functions:1010100.0 %
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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&) const47
mrs_uav_managers::StateEstimator::getInnovation() const46788
mrs_uav_managers::StateEstimator::getPoseCovariance() const46788
mrs_uav_managers::StateEstimator::getTwistCovariance() const46788
mrs_uav_managers::StateEstimator::getUavState()51617
mrs_uav_managers::StateEstimator::publishOdom() const53946
mrs_uav_managers::StateEstimator::publishUavState() const53946
mrs_uav_managers::StateEstimator::publishCovariance() const53946
mrs_uav_managers::StateEstimator::publishInnovation() const53946
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const99796
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Test:MRS UAV System - Test coverage reportLines:528461.9 %
Date:2023-12-06 10:06:33Functions: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()51617
mrs_uav_managers::StateEstimator::publishOdom() const53946
mrs_uav_managers::StateEstimator::getInnovation() const46788
mrs_uav_managers::StateEstimator::publishUavState() const53946
mrs_uav_managers::StateEstimator::getPoseCovariance() const46788
mrs_uav_managers::StateEstimator::publishCovariance() const53946
mrs_uav_managers::StateEstimator::publishInnovation() const53946
mrs_uav_managers::StateEstimator::getTwistCovariance() const46788
mrs_uav_managers::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const47
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const99796
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Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_managers/state_estimator.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : 
+       7             : /*//{ getUavState() */
+       8       51617 : std::optional<mrs_msgs::UavState> StateEstimator::getUavState() {
+       9             : 
+      10       51617 :   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      103207 :   return mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      16             : }
+      17             : /*//}*/
+      18             : 
+      19             : /*//{ getInnovation() */
+      20       46788 : nav_msgs::Odometry StateEstimator::getInnovation() const {
+      21       46788 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_);
+      22             : }
+      23             : /*//}*/
+      24             : 
+      25             : /*//{ getPoseCovariance() */
+      26       46788 : std::vector<double> StateEstimator::getPoseCovariance() const {
+      27       46788 :   return mrs_lib::get_mutexed(mtx_covariance_, pose_covariance_.values);
+      28             : }
+      29             : /*//}*/
+      30             : 
+      31             : /*//{ getTwistCovariance() */
+      32       46788 : std::vector<double> StateEstimator::getTwistCovariance() const {
+      33       46788 :   return mrs_lib::get_mutexed(mtx_covariance_, twist_covariance_.values);
+      34             : }
+      35             : /*//}*/
+      36             : 
+      37             : /*//{ publishUavState() */
+      38       53946 : void StateEstimator::publishUavState() const {
+      39             : 
+      40       53946 :   if (!ch_->debug_topics.state) {
+      41           0 :     return;
+      42             :   }
+      43             : 
+      44      107892 :   auto uav_state = mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      45       53946 :   ph_uav_state_.publish(uav_state);
+      46             : }
+      47             : /*//}*/
+      48             : 
+      49             : /*//{ publishOdom() */
+      50       53946 : void StateEstimator::publishOdom() const {
+      51             : 
+      52      107892 :   auto odom = mrs_lib::get_mutexed(mtx_odom_, odom_);
+      53       53946 :   ph_odom_.publish(odom);
+      54       53946 : }
+      55             : /*//}*/
+      56             : 
+      57             : /*//{ publishCovariance() */
+      58       53946 : void StateEstimator::publishCovariance() const {
+      59             : 
+      60       53946 :   if (!ch_->debug_topics.covariance) {
+      61       53946 :     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       53946 : void StateEstimator::publishInnovation() const {
+      73             : 
+      74       53946 :   if (!ch_->debug_topics.innovation) {
+      75       53946 :     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       99796 : std::optional<geometry_msgs::Quaternion> StateEstimator::rotateQuaternionByHeading(const geometry_msgs::Quaternion& q, const double hdg) const {
+      85             : 
+      86             :   try {
+      87       99796 :     tf2::Quaternion tf2_q = mrs_lib::AttitudeConverter(q);
+      88             : 
+      89             :     // Obtain heading from quaternion
+      90       99709 :     double q_hdg = 0;
+      91       99709 :     q_hdg        = mrs_lib::AttitudeConverter(q).getHeading();
+      92             : 
+      93             :     // Build rotation matrix from difference between new heading and quaternion heading
+      94       99313 :     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       99163 :     geometry_msgs::Quaternion q_new = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_q);
+      98       98809 :     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          47 : bool StateEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+     109             : 
+     110          47 :   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          47 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+     116          47 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+     117          47 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+     118          47 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+     119          47 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+     120          47 :   ph_->param_loader->loadParam("requires/position", requires_position);
+     121          47 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+     122          47 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+     123          47 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+     124             : 
+     125          47 :   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          47 :   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          47 :   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          47 :   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          47 :   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          47 :   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          47 :   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          47 :   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          47 :   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          47 :   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          47 :   return true;
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : }  // namespace mrs_uav_managers
+
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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()47
mrs_uav_managers::gain_manager::GainManager::onInit()47
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)47
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)695
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&)1034
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)7187
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Test:MRS UAV System - Test coverage reportLines:20225379.8 %
Date:2023-12-06 10:06:33Functions:6785.7 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
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&)1034
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&)695
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)7187
mrs_uav_managers::gain_manager::GainManager::onInit()47
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)47
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Current view:top level - mrs_uav_managers/src - gain_manager.cpp (source / functions)HitTotalCoverage
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_msgs/String.h>
+       7             : 
+       8             : #include <mrs_msgs/String.h>
+       9             : #include <mrs_msgs/EstimationDiagnostics.h>
+      10             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      11             : #include <mrs_msgs/GainManagerDiagnostics.h>
+      12             : 
+      13             : #include <mrs_lib/profiler.h>
+      14             : #include <mrs_lib/scope_timer.h>
+      15             : #include <mrs_lib/param_loader.h>
+      16             : #include <mrs_lib/mutex.h>
+      17             : #include <mrs_lib/publisher_handler.h>
+      18             : #include <mrs_lib/service_client_handler.h>
+      19             : #include <mrs_lib/subscribe_handler.h>
+      20             : 
+      21             : #include <dynamic_reconfigure/ReconfigureRequest.h>
+      22             : #include <dynamic_reconfigure/Reconfigure.h>
+      23             : #include <dynamic_reconfigure/Config.h>
+      24             : 
+      25             : //}
+      26             : 
+      27             : namespace mrs_uav_managers
+      28             : {
+      29             : 
+      30             : namespace gain_manager
+      31             : {
+      32             : 
+      33             : /* //{ class GainManager */
+      34             : 
+      35             : typedef struct
+      36             : {
+      37             : 
+      38             :   double kpxy, kiwxy, kibxy, kvxy, kaxy;
+      39             :   double kpz, kvz, kaz;
+      40             :   double kiwxy_lim, kibxy_lim;
+      41             :   double km, km_lim;
+      42             :   double kqrp, kqy;
+      43             : 
+      44             :   std::string name;
+      45             : 
+      46             : } Gains_t;
+      47             : 
+      48             : class GainManager : public nodelet::Nodelet {
+      49             : 
+      50             : public:
+      51             :   virtual void onInit();
+      52             : 
+      53             : private:
+      54             :   ros::NodeHandle nh_;
+      55             :   bool            is_initialized_ = false;
+      56             : 
+      57             :   // | ----------------------- parameters ----------------------- |
+      58             : 
+      59             :   std::vector<std::string> _current_state_estimators_;
+      60             : 
+      61             :   std::vector<std::string>       _gain_names_;
+      62             :   std::map<std::string, Gains_t> _gains_;
+      63             : 
+      64             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_gains_;
+      65             :   std::map<std::string, std::string>              _map_type_default_gains_;
+      66             :   ;
+      67             : 
+      68             :   // | --------------------- service clients -------------------- |
+      69             : 
+      70             :   ros::ServiceClient service_client_set_gains_;
+      71             : 
+      72             :   // | ----------------------- subscribers ---------------------- |
+      73             : 
+      74             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>     sh_estimation_diag_;
+      75             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+      76             : 
+      77             :   // | --------------------- gain management -------------------- |
+      78             : 
+      79             :   bool setGains(std::string gains_name);
+      80             : 
+      81             :   ros::ServiceServer service_server_set_gains_;
+      82             :   bool               callbackSetGains(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      83             : 
+      84             :   std::string last_estimator_name_;
+      85             :   std::mutex  mutex_last_estimator_name_;
+      86             : 
+      87             :   void       timerGainManagement(const ros::TimerEvent& event);
+      88             :   ros::Timer timer_gain_management_;
+      89             :   double     _gain_management_rate_;
+      90             : 
+      91             :   std::string current_gains_;
+      92             :   std::mutex  mutex_current_gains_;
+      93             : 
+      94             :   // | ------------------ diagnostics publisher ----------------- |
+      95             : 
+      96             :   mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics> ph_diagnostics_;
+      97             : 
+      98             :   void       timerDiagnostics(const ros::TimerEvent& event);
+      99             :   ros::Timer timer_diagnostics_;
+     100             :   double     _diagnostics_rate_;
+     101             : 
+     102             :   // | ------------------------ profiler ------------------------ |
+     103             : 
+     104             :   mrs_lib::Profiler profiler_;
+     105             :   bool              _profiler_enabled_ = false;
+     106             : 
+     107             :   // | ------------------- scope timer logger ------------------- |
+     108             : 
+     109             :   bool                                       scope_timer_enabled_ = false;
+     110             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     111             : 
+     112             :   // | ------------------------- helpers ------------------------ |
+     113             : 
+     114             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     115             : };
+     116             : 
+     117             : //}
+     118             : 
+     119             : /* //{ onInit() */
+     120             : 
+     121          47 : void GainManager::onInit() {
+     122             : 
+     123          94 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     124             : 
+     125          47 :   ros::Time::waitForValid();
+     126             : 
+     127          47 :   ROS_INFO("[GainManager]: initializing");
+     128             : 
+     129             :   // | ------------------------- params ------------------------- |
+     130             : 
+     131          94 :   mrs_lib::ParamLoader param_loader(nh_, "GainManager");
+     132             : 
+     133          94 :   std::string custom_config_path;
+     134          94 :   std::string platform_config_path;
+     135             : 
+     136          47 :   param_loader.loadParam("custom_config", custom_config_path);
+     137          47 :   param_loader.loadParam("platform_config", platform_config_path);
+     138             : 
+     139          47 :   if (custom_config_path != "") {
+     140          47 :     param_loader.addYamlFile(custom_config_path);
+     141             :   }
+     142             : 
+     143          47 :   if (platform_config_path != "") {
+     144          47 :     param_loader.addYamlFile(platform_config_path);
+     145             :   }
+     146             : 
+     147          47 :   param_loader.addYamlFileFromParam("private_config");
+     148          47 :   param_loader.addYamlFileFromParam("public_config");
+     149          47 :   param_loader.addYamlFileFromParam("public_gains");
+     150             : 
+     151          94 :   const std::string yaml_prefix = "mrs_uav_managers/gain_manager/";
+     152             : 
+     153             :   // params passed from the launch file are not prefixed
+     154          47 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     155             : 
+     156          47 :   param_loader.loadParam(yaml_prefix + "gains", _gain_names_);
+     157             : 
+     158          47 :   param_loader.loadParam(yaml_prefix + "estimator_types", _current_state_estimators_);
+     159             : 
+     160          47 :   param_loader.loadParam(yaml_prefix + "rate", _gain_management_rate_);
+     161          47 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     162             : 
+     163             :   // | ------------------- scope timer logger ------------------- |
+     164             : 
+     165          47 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     166         141 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     167          47 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     168             : 
+     169          47 :   std::vector<std::string>::iterator it;
+     170             : 
+     171             :   // loading gain_names
+     172         141 :   for (it = _gain_names_.begin(); it != _gain_names_.end(); ++it) {
+     173             : 
+     174          94 :     ROS_INFO_STREAM("[GainManager]: loading gains '" << *it << "'");
+     175             : 
+     176          94 :     Gains_t new_gains;
+     177             : 
+     178          94 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kp", new_gains.kpxy);
+     179          94 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kv", new_gains.kvxy);
+     180          94 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/ka", new_gains.kaxy);
+     181          94 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib", new_gains.kibxy);
+     182          94 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw", new_gains.kiwxy);
+     183          94 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib_lim", new_gains.kibxy_lim);
+     184          94 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw_lim", new_gains.kiwxy_lim);
+     185             : 
+     186          94 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kp", new_gains.kpz);
+     187          94 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kv", new_gains.kvz);
+     188          94 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ka", new_gains.kaz);
+     189             : 
+     190          94 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_roll_pitch", new_gains.kqrp);
+     191          94 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_yaw", new_gains.kqy);
+     192             : 
+     193          94 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km", new_gains.km);
+     194          94 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km_lim", new_gains.km_lim);
+     195             : 
+     196          94 :     _gains_.insert(std::pair<std::string, Gains_t>(*it, new_gains));
+     197             :   }
+     198             : 
+     199             :   // loading the allowed gains lists
+     200         376 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     201             : 
+     202         329 :     std::vector<std::string> temp_vector;
+     203         329 :     param_loader.loadParam(yaml_prefix + "allowed_gains/" + *it, temp_vector);
+     204             : 
+     205         329 :     std::vector<std::string>::iterator it2;
+     206         987 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     207         658 :       if (!stringInVector(*it2, _gain_names_)) {
+     208           0 :         ROS_ERROR("[GainManager]: the element '%s' of %s/allowed_gains is not a valid gain!", it2->c_str(), it->c_str());
+     209           0 :         ros::shutdown();
+     210             :       }
+     211             :     }
+     212             : 
+     213         329 :     _map_type_allowed_gains_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     214             :   }
+     215             : 
+     216             :   // loading the default gains
+     217         376 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     218             : 
+     219         329 :     std::string temp_str;
+     220         329 :     param_loader.loadParam(yaml_prefix + "default_gains/" + *it, temp_str);
+     221             : 
+     222         329 :     if (!stringInVector(temp_str, _map_type_allowed_gains_.at(*it))) {
+     223           0 :       ROS_ERROR("[GainManager]: the element '%s' of %s/allowed_gains is not a valid gain!", temp_str.c_str(), it->c_str());
+     224           0 :       ros::shutdown();
+     225             :     }
+     226             : 
+     227         329 :     _map_type_default_gains_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     228             :   }
+     229             : 
+     230          47 :   ROS_INFO("[GainManager]: done loading dynamical params");
+     231             : 
+     232          47 :   current_gains_       = "";
+     233          47 :   last_estimator_name_ = "";
+     234             : 
+     235             :   // | ------------------------ services ------------------------ |
+     236             : 
+     237          47 :   service_server_set_gains_ = nh_.advertiseService("set_gains_in", &GainManager::callbackSetGains, this);
+     238             : 
+     239          47 :   service_client_set_gains_ = nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_gains_out");
+     240             : 
+     241             :   // | ----------------------- subscribers ---------------------- |
+     242             : 
+     243          94 :   mrs_lib::SubscribeHandlerOptions shopts;
+     244          47 :   shopts.nh                 = nh_;
+     245          47 :   shopts.node_name          = "GainManager";
+     246          47 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     247          47 :   shopts.threadsafe         = true;
+     248          47 :   shopts.autostart          = true;
+     249          47 :   shopts.queue_size         = 10;
+     250          47 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     251             : 
+     252          47 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     253          47 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     254             : 
+     255             :   // | ----------------------- publishers ----------------------- |
+     256             : 
+     257          47 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     258             : 
+     259             :   // | ------------------------- timers ------------------------- |
+     260             : 
+     261          47 :   timer_gain_management_ = nh_.createTimer(ros::Rate(_gain_management_rate_), &GainManager::timerGainManagement, this);
+     262          47 :   timer_diagnostics_     = nh_.createTimer(ros::Rate(_diagnostics_rate_), &GainManager::timerDiagnostics, this);
+     263             : 
+     264             :   // | ------------------------ profiler ------------------------ |
+     265             : 
+     266          47 :   profiler_ = mrs_lib::Profiler(nh_, "GainManager", _profiler_enabled_);
+     267             : 
+     268             :   // | ----------------------- finish init ---------------------- |
+     269             : 
+     270          47 :   if (!param_loader.loadedSuccessfully()) {
+     271           0 :     ROS_ERROR("[GainManager]: could not load all parameters!");
+     272           0 :     ros::shutdown();
+     273             :   }
+     274             : 
+     275          47 :   is_initialized_ = true;
+     276             : 
+     277          47 :   ROS_INFO("[GainManager]: initialized");
+     278             : 
+     279          47 :   ROS_DEBUG("[GainManager]: debug output is enabled");
+     280          47 : }
+     281             : 
+     282             : //}
+     283             : 
+     284             : // --------------------------------------------------------------
+     285             : // |                           methods                          |
+     286             : // --------------------------------------------------------------
+     287             : 
+     288             : /* setGains() //{ */
+     289             : 
+     290          47 : bool GainManager::setGains(std::string gains_name) {
+     291             : 
+     292          47 :   std::map<std::string, Gains_t>::iterator it;
+     293          47 :   it = _gains_.find(gains_name);
+     294             : 
+     295          47 :   if (it == _gains_.end()) {
+     296           0 :     ROS_WARN("[GainManager]: can not set gains for '%s', the mode is not on a list!", gains_name.c_str());
+     297           0 :     return false;
+     298             :   }
+     299             : 
+     300          94 :   dynamic_reconfigure::Config          conf;
+     301          94 :   dynamic_reconfigure::DoubleParameter param;
+     302             : 
+     303          47 :   param.name  = "kpxy";
+     304          47 :   param.value = it->second.kpxy;
+     305          47 :   conf.doubles.push_back(param);
+     306             : 
+     307          47 :   param.name  = "kvxy";
+     308          47 :   param.value = it->second.kvxy;
+     309          47 :   conf.doubles.push_back(param);
+     310             : 
+     311          47 :   param.name  = "kaxy";
+     312          47 :   param.value = it->second.kaxy;
+     313          47 :   conf.doubles.push_back(param);
+     314             : 
+     315          47 :   param.name  = "kq_roll_pitch";
+     316          47 :   param.value = it->second.kqrp;
+     317          47 :   conf.doubles.push_back(param);
+     318             : 
+     319          47 :   param.name  = "kibxy";
+     320          47 :   param.value = it->second.kibxy;
+     321          47 :   conf.doubles.push_back(param);
+     322             : 
+     323          47 :   param.name  = "kiwxy";
+     324          47 :   param.value = it->second.kiwxy;
+     325          47 :   conf.doubles.push_back(param);
+     326             : 
+     327          47 :   param.name  = "kibxy_lim";
+     328          47 :   param.value = it->second.kibxy_lim;
+     329          47 :   conf.doubles.push_back(param);
+     330             : 
+     331          47 :   param.name  = "kiwxy_lim";
+     332          47 :   param.value = it->second.kiwxy_lim;
+     333          47 :   conf.doubles.push_back(param);
+     334             : 
+     335          47 :   param.name  = "kpz";
+     336          47 :   param.value = it->second.kpz;
+     337          47 :   conf.doubles.push_back(param);
+     338             : 
+     339          47 :   param.name  = "kvz";
+     340          47 :   param.value = it->second.kvz;
+     341          47 :   conf.doubles.push_back(param);
+     342             : 
+     343          47 :   param.name  = "kaz";
+     344          47 :   param.value = it->second.kaz;
+     345          47 :   conf.doubles.push_back(param);
+     346             : 
+     347          47 :   param.name  = "kq_yaw";
+     348          47 :   param.value = it->second.kqy;
+     349          47 :   conf.doubles.push_back(param);
+     350             : 
+     351          47 :   param.name  = "km";
+     352          47 :   param.value = it->second.km;
+     353          47 :   conf.doubles.push_back(param);
+     354             : 
+     355          47 :   param.name  = "km_lim";
+     356          47 :   param.value = it->second.km_lim;
+     357          47 :   conf.doubles.push_back(param);
+     358             : 
+     359          94 :   dynamic_reconfigure::ReconfigureRequest  srv_req;
+     360          94 :   dynamic_reconfigure::ReconfigureResponse srv_resp;
+     361             : 
+     362          47 :   srv_req.config = conf;
+     363             : 
+     364          94 :   dynamic_reconfigure::Reconfigure reconf;
+     365          47 :   reconf.request = srv_req;
+     366             : 
+     367          47 :   ROS_INFO_THROTTLE(1.0, "[GainManager]: setting up gains for '%s'", gains_name.c_str());
+     368             : 
+     369          47 :   bool res = service_client_set_gains_.call(reconf);
+     370             : 
+     371          47 :   if (!res) {
+     372             : 
+     373           0 :     ROS_WARN_THROTTLE(1.0, "[GainManager]: the service for setting gains has failed!");
+     374           0 :     return false;
+     375             : 
+     376             :   } else {
+     377             : 
+     378          47 :     mrs_lib::set_mutexed(mutex_current_gains_, gains_name, current_gains_);
+     379             : 
+     380          47 :     return true;
+     381             :   }
+     382             : }
+     383             : 
+     384             : //}
+     385             : 
+     386             : // --------------------------------------------------------------
+     387             : // |                          callbacks                         |
+     388             : // --------------------------------------------------------------
+     389             : 
+     390             : // | -------------------- service callbacks ------------------- |
+     391             : 
+     392             : /* //{ callbackSetGains() */
+     393             : 
+     394           0 : bool GainManager::callbackSetGains(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+     395             : 
+     396           0 :   if (!is_initialized_) {
+     397           0 :     return false;
+     398             :   }
+     399             : 
+     400           0 :   std::stringstream ss;
+     401             : 
+     402           0 :   if (!sh_estimation_diag_.hasMsg()) {
+     403             : 
+     404           0 :     ss << "missing estimation diagnostics";
+     405             : 
+     406           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     407             : 
+     408           0 :     res.message = ss.str();
+     409           0 :     res.success = false;
+     410           0 :     return true;
+     411             :   }
+     412             : 
+     413           0 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     414             : 
+     415           0 :   if (!stringInVector(req.value, _gain_names_)) {
+     416             : 
+     417           0 :     ss << "the gains '" << req.value.c_str() << "' do not exist (in the GainManager's config)";
+     418             : 
+     419           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     420             : 
+     421           0 :     res.message = ss.str();
+     422           0 :     res.success = false;
+     423           0 :     return true;
+     424             :   }
+     425             : 
+     426           0 :   if (!stringInVector(req.value, _map_type_allowed_gains_.at(estimation_diagnostics.current_state_estimator))) {
+     427             : 
+     428           0 :     ss << "the gains '" << req.value.c_str() << "' are not allowed given the current state estimator";
+     429             : 
+     430           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     431             : 
+     432           0 :     res.message = ss.str();
+     433           0 :     res.success = false;
+     434           0 :     return true;
+     435             :   }
+     436             : 
+     437             :   // try to set the gains
+     438           0 :   if (!setGains(req.value)) {
+     439             : 
+     440           0 :     ss << "the Se3Controller could not set the gains";
+     441             : 
+     442           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     443             : 
+     444           0 :     res.message = ss.str();
+     445           0 :     res.success = false;
+     446           0 :     return true;
+     447             : 
+     448             :   } else {
+     449             : 
+     450           0 :     ss << "the gains '" << req.value.c_str() << "' are set";
+     451             : 
+     452           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     453             : 
+     454           0 :     res.message = ss.str();
+     455           0 :     res.success = true;
+     456           0 :     return true;
+     457             :   }
+     458             : }
+     459             : 
+     460             : //}
+     461             : 
+     462             : // --------------------------------------------------------------
+     463             : // |                           timers                           |
+     464             : // --------------------------------------------------------------
+     465             : 
+     466             : /* gainManagementTimer() //{ */
+     467             : 
+     468        7187 : void GainManager::timerGainManagement(const ros::TimerEvent& event) {
+     469             : 
+     470        7187 :   if (!is_initialized_) {
+     471        2376 :     return;
+     472             :   }
+     473             : 
+     474       14374 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("gainManagementTimer", _gain_management_rate_, 0.01, event);
+     475       14374 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::gainManagementTimer", scope_timer_logger_, scope_timer_enabled_);
+     476             : 
+     477        7187 :   if (!sh_estimation_diag_.hasMsg()) {
+     478        2376 :     return;
+     479             :   }
+     480             : 
+     481        4811 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     482             : 
+     483        4811 :   if (!sh_control_manager_diag_.hasMsg()) {
+     484           0 :     return;
+     485             :   }
+     486             : 
+     487        9622 :   auto control_manager_diagnostics = *sh_estimation_diag_.getMsg();
+     488             : 
+     489        9622 :   auto current_gains       = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     490        4811 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     491             : 
+     492             :   // | --- automatically set _gains_ when currrent state estimator changes -- |
+     493        4811 :   if (estimation_diagnostics.current_state_estimator != last_estimator_name) {
+     494             : 
+     495          47 :     ROS_INFO_THROTTLE(1.0, "[GainManager]: the state estimator has changed! %s -> %s", last_estimator_name_.c_str(),
+     496             :                       estimation_diagnostics.current_state_estimator.c_str());
+     497             : 
+     498          47 :     std::map<std::string, std::string>::iterator it;
+     499          47 :     it = _map_type_default_gains_.find(estimation_diagnostics.current_state_estimator);
+     500             : 
+     501          47 :     if (it == _map_type_default_gains_.end()) {
+     502             : 
+     503           0 :       ROS_WARN_THROTTLE(1.0, "[GainManager]: the state estimator '%s' was not specified in the gain_manager's config!",
+     504             :                         estimation_diagnostics.current_state_estimator.c_str());
+     505             : 
+     506             :     } else {
+     507             : 
+     508             :       // if the current gains are within the allowed estimator types, do nothing
+     509          47 :       if (stringInVector(current_gains, _map_type_allowed_gains_.at(estimation_diagnostics.current_state_estimator))) {
+     510             : 
+     511           0 :         last_estimator_name = estimation_diagnostics.current_state_estimator;
+     512             : 
+     513             :         // else, try to set the default gains
+     514             :       } else {
+     515             : 
+     516          47 :         ROS_WARN_THROTTLE(1.0, "[GainManager]: the current gains '%s' are not within the allowed gains for '%s'", current_gains.c_str(),
+     517             :                           estimation_diagnostics.current_state_estimator.c_str());
+     518             : 
+     519          47 :         if (setGains(it->second)) {
+     520             : 
+     521          47 :           last_estimator_name = estimation_diagnostics.current_state_estimator;
+     522             : 
+     523          47 :           ROS_INFO_THROTTLE(1.0, "[GainManager]: gains set to default: '%s'", it->second.c_str());
+     524             : 
+     525             :         } else {
+     526             : 
+     527           0 :           ROS_WARN_THROTTLE(1.0, "[GainManager]: could not set gains!");
+     528             :         }
+     529             :       }
+     530             :     }
+     531             :   }
+     532             : 
+     533        4811 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     534             : }
+     535             : 
+     536             : //}
+     537             : 
+     538             : /* dignosticsTimer() //{ */
+     539             : 
+     540         695 : void GainManager::timerDiagnostics(const ros::TimerEvent& event) {
+     541             : 
+     542         695 :   if (!is_initialized_) {
+     543         232 :     return;
+     544             :   }
+     545             : 
+     546        1390 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     547        1390 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     548             : 
+     549         695 :   if (!sh_estimation_diag_.hasMsg()) {
+     550         232 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do constraint management, missing estimator diagnostics!");
+     551         232 :     return;
+     552             :   }
+     553             : 
+     554         463 :   if (!sh_control_manager_diag_.hasMsg()) {
+     555           0 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do constraint management, missing control manager diagnostics!");
+     556           0 :     return;
+     557             :   }
+     558             : 
+     559         926 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     560             : 
+     561         926 :   auto current_gains = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     562             : 
+     563         926 :   mrs_msgs::GainManagerDiagnostics diagnostics;
+     564             : 
+     565         463 :   diagnostics.stamp        = ros::Time::now();
+     566         463 :   diagnostics.current_name = current_gains;
+     567         463 :   diagnostics.loaded       = _gain_names_;
+     568             : 
+     569             :   // get the available gains
+     570             :   {
+     571         463 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     572         463 :     it = _map_type_allowed_gains_.find(estimation_diagnostics.current_state_estimator);
+     573             : 
+     574         463 :     if (it == _map_type_allowed_gains_.end()) {
+     575           0 :       ROS_WARN_THROTTLE(1.0, "[GainManager]: the estimator name '%s' was not specified in the gain_manager's config!",
+     576             :                         estimation_diagnostics.current_state_estimator.c_str());
+     577             :     } else {
+     578         463 :       diagnostics.available = it->second;
+     579             :     }
+     580             :   }
+     581             : 
+     582             :   // get the current gain values
+     583             :   {
+     584         463 :     std::map<std::string, Gains_t>::iterator it;
+     585         463 :     it = _gains_.find(current_gains);
+     586             : 
+     587         463 :     diagnostics.current_values.kpxy = it->second.kpxy;
+     588         463 :     diagnostics.current_values.kvxy = it->second.kvxy;
+     589         463 :     diagnostics.current_values.kaxy = it->second.kaxy;
+     590             : 
+     591         463 :     diagnostics.current_values.kqrp = it->second.kqrp;
+     592             : 
+     593         463 :     diagnostics.current_values.kibxy     = it->second.kibxy;
+     594         463 :     diagnostics.current_values.kibxy_lim = it->second.kibxy_lim;
+     595             : 
+     596         463 :     diagnostics.current_values.kiwxy     = it->second.kiwxy;
+     597         463 :     diagnostics.current_values.kiwxy_lim = it->second.kiwxy_lim;
+     598             : 
+     599         463 :     diagnostics.current_values.kpz = it->second.kpz;
+     600         463 :     diagnostics.current_values.kvz = it->second.kvz;
+     601         463 :     diagnostics.current_values.kaz = it->second.kaz;
+     602             : 
+     603         463 :     diagnostics.current_values.kqy = it->second.kqy;
+     604             : 
+     605         463 :     diagnostics.current_values.km     = it->second.km;
+     606         463 :     diagnostics.current_values.km_lim = it->second.km_lim;
+     607             :   }
+     608             : 
+     609         463 :   ph_diagnostics_.publish(diagnostics);
+     610             : }
+     611             : 
+     612             : //}
+     613             : 
+     614             : // --------------------------------------------------------------
+     615             : // |                          routines                          |
+     616             : // --------------------------------------------------------------
+     617             : 
+     618             : /* stringInVector() //{ */
+     619             : 
+     620        1034 : bool GainManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     621             : 
+     622        1034 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     623          47 :     return false;
+     624             :   } else {
+     625         987 :     return true;
+     626             :   }
+     627             : }
+     628             : 
+     629             : //}
+     630             : 
+     631             : }  // namespace gain_manager
+     632             : 
+     633             : }  // namespace mrs_uav_managers
+     634             : 
+     635             : #include <pluginlib/class_list_macros.h>
+     636          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::gain_manager::GainManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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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..6ceeb4cc94ea7fff3233934c9b9015cf2640a8eb GIT binary patch literal 2109 zcmV-D2*US?P)0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp8KD5nZ!^B+UfK=dl8xQFx63Mk7pEcF#5; z0<4&a#pC4X5sD{M91V*147;uaFX(zb4P$Myija4*w1M)%EY{6d%Yl7W0dD4rL(!Y3 z1zZ_|d(Py+KqhkZLx3OYJi~TysIfB$5&@ zR8!$Gr8vjnlBuUAZ?2yC$N?O8i_gJS(xZ@-CYKbKMB#x*o-}19tnvsccFTxROrqJA zGBTw{M*f(6!tf#$npc<@PY8p&3FD&|5%n6@(wrmAEuRUcLbKIRmIKHp!lq~Wwd?Bk zxx^^$yV^rjcd{+?zjB}>rgyD(tm#pTwn_46rKSn@=x zGljW(UvbYx0P2oCOWbAJ!0&SBq~*9n!emV;KobBbDdw#1(-eU>Ta{P425>zXaYgc; zDvv-xxtk&22!vX24FgUn9Gww6J=|>^HPn+%>H3URKs&mBV$Y?~j*^Lir&|nBv|P1- zqdXczt71z208onqJ+ucXqsNfhTmlrbwU@gMbgv}4R-R&;M>X5E_Zauf1I2R+AA8mi z!kMuru&L5FN2Rvv!{j3r?)ulk)RS(8^?d?$GOxI(7>%PmFv%djPKx#1@_4rwXvh0; zKEIxaf9w6~I1=Ea(oWz}0|cP_&N-P3M~gbAxY}_mJYMCv=HoTFc#f+(=fWZuW*t}{ z)5~5ESoa>Lmp!DtM_u7PS?JNhoS9Ag)55#SE*U`U3^gFPYx&L8L_OFhQvdAQqPX`` zls^zF+)?eso>bx`n#^<~MGuUBFx5i>wWCPxQ{-JYfsSHhPs$TTB5D9KTe>(a*JQvc z606jJ+^*$M?Zd7s?c8%b%I;`Z)Tp7tX~XClVWfgoqHPr!3*1ix(lwT|jPqD358GN? z^6A>n*w6RFz5%9T)^z;_@}}#a`8o*D%zKy$$4&u=CBO(p?NW4PJ7Qs`6dhe(a@bUD zTLdPbD~jU)kV&zVN6EVHy&N<4jchSB7gyoRyHKEBmsw3B*oCP~KfU>s!<58GLPS+pjkpYZ6veN7S zlgD~xLB=D+BhlIvR0Ypc0$*o~G=3!@DhzdjN64)s%0ut5EC@T)L}}mJFv=_CrO;YvfX9 zuOf~ptR3Os{4w*06pz|S{Nx_MBMMlhJtVb{P_q;t?ws@KERk%X4pPim^uOJK>L|tI zAb3N8ZHmvWa@$>cJ_uG%o;rizkb*Dg0 zSTqR}7U>M1V$!_l9*+JIfqfKzhY8KB>8h=(Q|==j|21KlJVsl;qG7F-$0`1z;mYMv zJ`b;sLcsY?8-=ZOMtT(f=Cwj`q4M$*NZVGCuU0`$Ai>FDT%-?OfvPU>UHLqR;&nA~ zaiNWFZ@{u0&np3BHl$1fKPvsOdSHQXUgZOMWOm(G9Kr}I*Btq#Oy-szxl8H`wyD}8 z?cEHN^HbGIy0->t4Uys&zMH{+F_U>~+fd6mK7ifTXvKNlfK=`e^XjZgh7<`FtnNBY zh?YN;1rVmVn69mht+QNNVt{CW5gRmk`i4w>5zuiqpWw!Y9NKy0f zzOIvbfgB1<%cQ)K)ubKwG;?Xe`G+5!sxy#^+b|!eab$;O-^)&M58g!t!y>bDX&k$e zJ_s)yo&LzKR%Ev;*9tOOIG%?qpckJc{^j8x$-@&D-FFvcReVeDpVi|??RD6DFb{Bm z;7c#RLmn=(`tTGhNqDFC + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src + + + + + + + + + + + + + + +
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constraint_manager.cpp +
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uav_manager.cpp +
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+ 		47.6 %548 / 115181.6 %31 / 38
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gain_manager.cpp +
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<unnamed>47.6 %548 / 115181.6 %31 / 38
constraint_manager.cpp +
65.2%65.2%
+ 		65.2 %148 / 22775.0 %6 / 8
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null_tracker.cpp +
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+ 		67.8 %40 / 5955.0 %11 / 20
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gain_manager.cpp +
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<unnamed>79.8 %202 / 25385.7 %6 / 7
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<unnamed>65.2 %148 / 22775.0 %6 / 8
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %202 / 25385.7 %6 / 7
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null_tracker.cpp +
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uav_manager.cpp +
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<unnamed>47.6 %548 / 115181.6 %31 / 38
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null_tracker.cpp +
67.8%67.8%
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constraint_manager.cpp +
65.2%65.2%
+ 		65.2 %148 / 22775.0 %6 / 8
uav_manager.cpp +
47.6%47.6%
+ 		47.6 %548 / 115181.6 %31 / 38
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %202 / 25385.7 %6 / 7
+
+
+ + + + +
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constraint_manager.cpp +
65.2%65.2%
+ 		65.2 %148 / 22775.0 %6 / 8
null_tracker.cpp +
67.8%67.8%
+ 		67.8 %40 / 5955.0 %11 / 20
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %202 / 25385.7 %6 / 7
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+
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Test:MRS UAV System - Test coverage reportLines:938169055.5 %
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Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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constraint_manager.cpp +
65.2%65.2%
+ 		65.2 %148 / 22775.0 %6 / 8
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %202 / 25385.7 %6 / 7
null_tracker.cpp +
67.8%67.8%
+ 		67.8 %40 / 5955.0 %11 / 20
uav_manager.cpp +
47.6%47.6%
+ 		47.6 %548 / 115181.6 %31 / 38
+
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:405967.8 %
Date:2023-12-06 10:06:33Functions:112055.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::NullTracker::resetStatic()0
mrs_uav_managers::NullTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::NullTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
(anonymous namespace)::ProxyExec0::ProxyExec0()47
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>)47
mrs_uav_managers::NullTracker::~NullTracker()47
mrs_uav_managers::NullTracker::~NullTracker().247
mrs_uav_managers::NullTracker::deactivate()103
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)103
mrs_uav_managers::NullTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_managers::NullTracker::getStatus()1768
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:405967.8 %
Date:2023-12-06 10:06:33Functions:112055.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_managers::NullTracker::deactivate()103
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>)47
mrs_uav_managers::NullTracker::resetStatic()0
mrs_uav_managers::NullTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_managers::NullTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::NullTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_managers::NullTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)103
mrs_uav_managers::NullTracker::getStatus()1768
mrs_uav_managers::NullTracker::~NullTracker()47
mrs_uav_managers::NullTracker::~NullTracker().247
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Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:405967.8 %
Date:2023-12-06 10:06:33Functions:112055.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <ros/ros.h>
+       2             : 
+       3             : #include <mrs_uav_managers/tracker.h>
+       4             : 
+       5             : namespace mrs_uav_managers
+       6             : {
+       7             : 
+       8             : /* //{ class NullTracker */
+       9             : 
+      10             : class NullTracker : public mrs_uav_managers::Tracker {
+      11             : 
+      12             : public:
+      13          94 :   ~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          47 : 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          94 :   ros::NodeHandle nh_(parent_nh, "null_tracker");
+      59             : 
+      60          47 :   ros::Time::waitForValid();
+      61             : 
+      62          47 :   is_initialized = true;
+      63             : 
+      64          47 :   this->common_handlers = common_handlers;
+      65             : 
+      66          47 :   ROS_INFO("[NullTracker]: initialized");
+      67             : 
+      68          94 :   return true;
+      69             : }
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* //{ activate() */
+      74             : 
+      75         103 : std::tuple<bool, std::string> NullTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+      76             : 
+      77         103 :   std::stringstream ss;
+      78         103 :   ss << "activated";
+      79             : 
+      80         103 :   ROS_INFO_STREAM("[NullTracker]: " << ss.str());
+      81         103 :   is_active = true;
+      82             : 
+      83         206 :   return std::tuple(true, ss.str());
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* //{ deactivate() */
+      89             : 
+      90         103 : void NullTracker::deactivate(void) {
+      91             : 
+      92         103 :   ROS_INFO("[NullTracker]: deactivated");
+      93         103 :   is_active = false;
+      94         103 : }
+      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       38166 : 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       38166 :   return {};
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* //{ getStatus() */
+     125             : 
+     126        1768 : const mrs_msgs::TrackerStatus NullTracker::getStatus() {
+     127             : 
+     128        1768 :   mrs_msgs::TrackerStatus tracker_status;
+     129             : 
+     130        1768 :   tracker_status.active            = is_active;
+     131        1768 :   tracker_status.callbacks_enabled = callbacks_enabled;
+     132             : 
+     133        1768 :   return tracker_status;
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* //{ enableCallbacks() */
+     139             : 
+     140           2 : const std_srvs::SetBoolResponse::ConstPtr NullTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     141             : 
+     142           4 :   std_srvs::SetBoolResponse res;
+     143             : 
+     144           2 :   std::stringstream ss;
+     145             : 
+     146           2 :   if (cmd->data != callbacks_enabled) {
+     147             : 
+     148           2 :     callbacks_enabled = cmd->data;
+     149             : 
+     150           2 :     ss << "callbacks " << (callbacks_enabled ? "enabled" : "disabled");
+     151             : 
+     152           2 :     ROS_DEBUG_STREAM("[NullTracker]: " << ss.str());
+     153             : 
+     154             :   } else {
+     155             : 
+     156           0 :     ss << "callbacks were already " << (callbacks_enabled ? "enabled" : "disabled");
+     157             :   }
+     158             : 
+     159           2 :   res.message = ss.str();
+     160           2 :   res.success = true;
+     161             : 
+     162           6 :   return std_srvs::SetBoolResponse::ConstPtr(std::make_unique<std_srvs::SetBoolResponse>(res));
+     163             : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* //{ setReference() */
+     168             : 
+     169           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr NullTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     170           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     171             : }
+     172             : 
+     173             : //}
+     174             : 
+     175             : /* //{ setVelocityReference() */
+     176             : 
+     177           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr NullTracker::setVelocityReference([
+     178             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     179           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     180             : }
+     181             : 
+     182             : //}
+     183             : 
+     184             : /* //{ setTrajectoryReference() */
+     185             : 
+     186           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr NullTracker::setTrajectoryReference([
+     187             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     188           1 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     189             : }
+     190             : 
+     191             : //}
+     192             : 
+     193             : // | --------------------- other services --------------------- |
+     194             : 
+     195             : /* //{ hover() */
+     196             : 
+     197           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     198           0 :   return std_srvs::TriggerResponse::Ptr();
+     199             : }
+     200             : 
+     201             : //}
+     202             : 
+     203             : /* //{ startTrajectoryTracking() */
+     204             : 
+     205           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     206           0 :   return std_srvs::TriggerResponse::Ptr();
+     207             : }
+     208             : 
+     209             : //}
+     210             : 
+     211             : /* //{ stopTrajectoryTracking() */
+     212             : 
+     213           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     214           0 :   return std_srvs::TriggerResponse::Ptr();
+     215             : }
+     216             : 
+     217             : //}
+     218             : 
+     219             : /* //{ resumeTrajectoryTracking() */
+     220             : 
+     221           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     222           0 :   return std_srvs::TriggerResponse::Ptr();
+     223             : }
+     224             : 
+     225             : //}
+     226             : 
+     227             : /* //{ gotoTrajectoryStart() */
+     228             : 
+     229           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     230           0 :   return std_srvs::TriggerResponse::Ptr();
+     231             : }
+     232             : 
+     233             : //}
+     234             : 
+     235             : /* //{ setConstraints() */
+     236             : 
+     237         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr NullTracker::setConstraints([
+     238             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     239             : 
+     240         147 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : }  // namespace mrs_uav_managers
+     246             : 
+     247             : #include <pluginlib/class_list_macros.h>
+     248          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::NullTracker, mrs_uav_managers::Tracker)
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Current view:top level - mrs_uav_managers/src/transform_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33743677.3 %
Date:2023-12-06 10:06:33Functions:121392.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
transform_manager.cpp +
77.3%77.3%
+ 		77.3 %337 / 43692.3 %12 / 13
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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.func-sort-c.html b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..e7d09c05fd --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.func-sort-c.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/transform_manager/transform_manager.cpp - functions + + + + + + + + + + + + + + +
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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:33743677.3 %
Date:2023-12-06 10:06:33Functions:121392.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::transform_manager::TransformManager::getName[abi:cxx11]() const0
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const4
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_managers::transform_manager::TransformManager::onInit()47
mrs_uav_managers::transform_manager::TransformManager::TransformManager()47
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const707
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1293
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)33427
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)42598
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)46761
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)56158
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)163278
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)163278
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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:33743677.3 %
Date:2023-12-06 10:06:33Functions:121392.3 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)33427
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1293
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)46761
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)42598
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)56158
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)163278
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)163278
mrs_uav_managers::transform_manager::TransformManager::onInit()47
mrs_uav_managers::transform_manager::TransformManager::TransformManager()47
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const707
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const4
mrs_uav_managers::transform_manager::TransformManager::getName[abi:cxx11]() const0
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Generated by: LCOV version 1.14
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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:33743677.3 %
Date:2023-12-06 10:06:33Functions:121392.3 %
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+
          Line data    Source code
+
+       1             : /* //{ includes */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <mrs_lib/param_loader.h>
+       7             : #include <mrs_lib/subscribe_handler.h>
+       8             : #include <mrs_lib/publisher_handler.h>
+       9             : #include <mrs_lib/attitude_converter.h>
+      10             : #include <mrs_lib/transformer.h>
+      11             : #include <mrs_lib/transform_broadcaster.h>
+      12             : #include <mrs_lib/gps_conversions.h>
+      13             : 
+      14             : #include <mrs_msgs/UavState.h>
+      15             : #include <mrs_msgs/Float64Stamped.h>
+      16             : #include <mrs_msgs/HwApiAltitude.h>
+      17             : #include <mrs_msgs/RtkGps.h>
+      18             : 
+      19             : #include <tf2_ros/transform_broadcaster.h>
+      20             : #include <tf2_ros/static_transform_broadcaster.h>
+      21             : #include <geometry_msgs/TransformStamped.h>
+      22             : 
+      23             : #include <sensor_msgs/NavSatFix.h>
+      24             : 
+      25             : #include <nav_msgs/Odometry.h>
+      26             : 
+      27             : #include <memory>
+      28             : #include <string>
+      29             : 
+      30             : #include <mrs_uav_managers/estimation_manager/support.h>
+      31             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      32             : #include <transform_manager/tf_source.h>
+      33             : #include <transform_manager/tf_mapping_origin.h>
+      34             : 
+      35             : /*//}*/
+      36             : 
+      37             : namespace mrs_uav_managers
+      38             : {
+      39             : 
+      40             : namespace transform_manager
+      41             : {
+      42             : 
+      43             : /*//{ class TransformManager */
+      44             : class TransformManager : public nodelet::Nodelet {
+      45             : 
+      46             :   using Support = estimation_manager::Support;
+      47             : 
+      48             : public:
+      49          47 :   TransformManager() {
+      50          47 :     ch_ = std::make_shared<estimation_manager::CommonHandlers_t>();
+      51             : 
+      52          47 :     ch_->nodelet_name = nodelet_name_;
+      53          47 :     ch_->package_name = package_name_;
+      54          47 :   }
+      55             : 
+      56             :   void onInit();
+      57             :   bool is_initialized_ = false;
+      58             : 
+      59             :   std::string getName() const;
+      60             : 
+      61             :   std::string getPrintName() const;
+      62             : 
+      63             : private:
+      64             :   std::string _custom_config_;
+      65             :   std::string _platform_config_;
+      66             :   std::string _world_config_;
+      67             : 
+      68             :   const std::string package_name_ = "mrs_uav_managers";
+      69             :   const std::string nodelet_name_ = "TransformManager";
+      70             :   const std::string name_         = "transform_manager";
+      71             : 
+      72             :   bool publish_fcu_untilted_tf_;
+      73             : 
+      74             :   std::string ns_local_origin_parent_frame_id_;
+      75             :   std::string ns_local_origin_child_frame_id_;
+      76             :   bool        publish_local_origin_tf_;
+      77             : 
+      78             :   std::string ns_stable_origin_parent_frame_id_;
+      79             :   std::string ns_stable_origin_child_frame_id_;
+      80             :   bool        publish_stable_origin_tf_;
+      81             : 
+      82             :   std::string         ns_fixed_origin_parent_frame_id_;
+      83             :   std::string         ns_fixed_origin_child_frame_id_;
+      84             :   bool                publish_fixed_origin_tf_;
+      85             :   geometry_msgs::Pose pose_fixed_;
+      86             :   geometry_msgs::Pose pose_fixed_diff_;
+      87             : 
+      88             :   std::string ns_amsl_origin_parent_frame_id_;
+      89             :   std::string ns_amsl_origin_child_frame_id_;
+      90             :   bool        publish_amsl_origin_tf_;
+      91             : 
+      92             :   std::string          world_origin_units_;
+      93             :   geometry_msgs::Point world_origin_;
+      94             : 
+      95             :   std::vector<std::string>               tf_source_names_, estimator_names_;
+      96             :   std::vector<std::unique_ptr<TfSource>> tf_sources_;
+      97             : 
+      98             :   std::vector<std::string> utm_source_priority_list_;
+      99             :   std::string              utm_source_name_;
+     100             : 
+     101             :   std::mutex mtx_broadcast_utm_origin_;
+     102             :   std::mutex mtx_broadcast_world_origin_;
+     103             : 
+     104             :   ros::NodeHandle nh_;
+     105             : 
+     106             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     107             : 
+     108             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     109             : 
+     110             :   std::unique_ptr<TfMappingOrigin> tf_mapping_origin_;
+     111             : 
+     112             :   void timeoutCallback(const std::string& topic, const ros::Time& last_msg);
+     113             : 
+     114             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     115             :   void                                          callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     116             :   std::string                                   first_frame_id_;
+     117             :   std::string                                   last_frame_id_;
+     118             :   bool                                          is_first_frame_id_set_ = false;
+     119             : 
+     120             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_height_agl_;
+     121             :   void                                                callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg);
+     122             : 
+     123             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude> sh_altitude_amsl_;
+     124             :   void                                               callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg);
+     125             : 
+     126             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_hw_api_orientation_;
+     127             :   void                                                        callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg);
+     128             : 
+     129             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     130             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+     131             :   std::atomic<bool>                                 got_utm_offset_ = false;
+     132             : 
+     133             :   mrs_lib::SubscribeHandler<mrs_msgs::RtkGps> sh_rtk_gps_;
+     134             :   void                                        callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg);
+     135             : 
+     136             :   std::optional<geometry_msgs::Pose> transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const;
+     137             : 
+     138             :   void publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg);
+     139             : };
+     140             : /*//}*/
+     141             : 
+     142             : 
+     143             : /*//{ onInit() */
+     144          47 : void TransformManager::onInit() {
+     145             : 
+     146          47 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     147             : 
+     148          47 :   ros::Time::waitForValid();
+     149             : 
+     150          47 :   ROS_INFO("[%s]: initializing", getPrintName().c_str());
+     151             : 
+     152          47 :   broadcaster_ = std::make_shared<mrs_lib::TransformBroadcaster>();
+     153             : 
+     154          47 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getPrintName());
+     155          47 :   ch_->transformer->retryLookupNewest(true);
+     156             : 
+     157          94 :   mrs_lib::ParamLoader param_loader(nh_, getPrintName());
+     158             : 
+     159          47 :   param_loader.loadParam("custom_config", _custom_config_);
+     160          47 :   param_loader.loadParam("platform_config", _platform_config_);
+     161          47 :   param_loader.loadParam("world_config", _world_config_);
+     162             : 
+     163          47 :   if (_custom_config_ != "") {
+     164          47 :     param_loader.addYamlFile(_custom_config_);
+     165             :   }
+     166             : 
+     167          47 :   if (_platform_config_ != "") {
+     168          47 :     param_loader.addYamlFile(_platform_config_);
+     169             :   }
+     170             : 
+     171          47 :   if (_world_config_ != "") {
+     172          47 :     param_loader.addYamlFile(_world_config_);
+     173             :   }
+     174             : 
+     175          47 :   param_loader.addYamlFileFromParam("private_config");
+     176          47 :   param_loader.addYamlFileFromParam("public_config");
+     177          47 :   param_loader.addYamlFileFromParam("estimators_config");
+     178             : 
+     179          94 :   const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+     180             : 
+     181          47 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     182             : 
+     183             :   /*//{ initialize scope timer */
+     184          47 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", ch_->scope_timer.enabled);
+     185          94 :   std::string       filepath;
+     186          94 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/transform_manager_scope_timer.txt";
+     187          47 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+     188             :   /*//}*/
+     189             : 
+     190             :   /*//{ load world_origin parameters */
+     191             : 
+     192          47 :   bool   is_origin_param_ok = true;
+     193          47 :   double world_origin_x     = 0;
+     194          47 :   double world_origin_y     = 0;
+     195             : 
+     196          47 :   param_loader.loadParam("world_origin/units", world_origin_units_);
+     197             : 
+     198          47 :   if (Support::toLowercase(world_origin_units_) == "utm") {
+     199           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getPrintName().c_str());
+     200           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     201           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     202             : 
+     203          47 :   } else if (Support::toLowercase(world_origin_units_) == "latlon") {
+     204             :     double lat, lon;
+     205          47 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getPrintName().c_str());
+     206          47 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     207          47 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     208          47 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     209          47 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getPrintName().c_str(), world_origin_x, world_origin_y);
+     210             : 
+     211             :   } else {
+     212           0 :     ROS_ERROR("[%s]: world_origin_units must be (\"UTM\"|\"LATLON\"). Got '%s'", getPrintName().c_str(), world_origin_units_.c_str());
+     213           0 :     ros::shutdown();
+     214             :   }
+     215             : 
+     216          47 :   world_origin_.x = world_origin_x;
+     217          47 :   world_origin_.y = world_origin_y;
+     218          47 :   world_origin_.z = 0;
+     219             : 
+     220          47 :   if (!is_origin_param_ok) {
+     221           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getPrintName().c_str());
+     222           0 :     ros::shutdown();
+     223             :   }
+     224             :   /*//}*/
+     225             : 
+     226             :   /*//{ load local_origin parameters */
+     227          94 :   std::string local_origin_parent_frame_id;
+     228          47 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/parent", local_origin_parent_frame_id);
+     229          47 :   ns_local_origin_parent_frame_id_ = ch_->uav_name + "/" + local_origin_parent_frame_id;
+     230             : 
+     231          94 :   std::string local_origin_child_frame_id;
+     232          47 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/child", local_origin_child_frame_id);
+     233          47 :   ns_local_origin_child_frame_id_ = ch_->uav_name + "/" + local_origin_child_frame_id;
+     234             : 
+     235          47 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/enabled", publish_local_origin_tf_);
+     236             :   /*//}*/
+     237             : 
+     238             :   /*//{ load stable_origin parameters */
+     239          94 :   std::string stable_origin_parent_frame_id;
+     240          47 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/parent", stable_origin_parent_frame_id);
+     241          47 :   ns_stable_origin_parent_frame_id_ = ch_->uav_name + "/" + stable_origin_parent_frame_id;
+     242             : 
+     243          94 :   std::string stable_origin_child_frame_id;
+     244          47 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/child", stable_origin_child_frame_id);
+     245          47 :   ns_stable_origin_child_frame_id_ = ch_->uav_name + "/" + stable_origin_child_frame_id;
+     246             : 
+     247          47 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/enabled", publish_stable_origin_tf_);
+     248             :   /*//}*/
+     249             : 
+     250             :   /*//{ load fixed_origin parameters */
+     251          94 :   std::string fixed_origin_parent_frame_id;
+     252          47 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/parent", fixed_origin_parent_frame_id);
+     253          47 :   ns_fixed_origin_parent_frame_id_ = ch_->uav_name + "/" + fixed_origin_parent_frame_id;
+     254             : 
+     255          94 :   std::string fixed_origin_child_frame_id;
+     256          47 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/child", fixed_origin_child_frame_id);
+     257          47 :   ns_fixed_origin_child_frame_id_ = ch_->uav_name + "/" + fixed_origin_child_frame_id;
+     258             : 
+     259          47 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/enabled", publish_fixed_origin_tf_);
+     260             :   /*//}*/
+     261             : 
+     262             :   /*//{ load fcu_untilted parameters */
+     263          94 :   std::string fcu_frame_id;
+     264          47 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/parent", fcu_frame_id);
+     265          47 :   ch_->frames.fcu    = fcu_frame_id;
+     266          47 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + fcu_frame_id;
+     267             : 
+     268          94 :   std::string fcu_untilted_frame_id;
+     269          47 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/child", fcu_untilted_frame_id);
+     270          47 :   ch_->frames.fcu_untilted    = fcu_untilted_frame_id;
+     271          47 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + fcu_untilted_frame_id;
+     272             : 
+     273          47 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/enabled", publish_fcu_untilted_tf_);
+     274             :   /*//}*/
+     275             : 
+     276             :   /*//{ load amsl_origin parameters*/
+     277          94 :   std::string amsl_parent_frame_id, amsl_child_frame_id;
+     278          47 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/enabled", publish_amsl_origin_tf_);
+     279          47 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/parent", amsl_parent_frame_id);
+     280          47 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/child", amsl_child_frame_id);
+     281          47 :   ch_->frames.amsl                = amsl_child_frame_id;
+     282          47 :   ch_->frames.ns_amsl             = ch_->uav_name + "/" + amsl_child_frame_id;
+     283          47 :   ns_amsl_origin_parent_frame_id_ = ch_->uav_name + "/" + amsl_parent_frame_id;
+     284          47 :   ns_amsl_origin_child_frame_id_  = ch_->uav_name + "/" + amsl_child_frame_id;
+     285             : 
+     286             :   /*//}*/
+     287             : 
+     288          47 :   param_loader.loadParam(yaml_prefix + "rtk_antenna/frame_id", ch_->frames.rtk_antenna);
+     289          47 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     290             : 
+     291          47 :   param_loader.loadParam("mrs_uav_managers/estimation_manager/state_estimators", estimator_names_);
+     292          47 :   param_loader.loadParam(yaml_prefix + "tf_sources", tf_source_names_);
+     293             : 
+     294          47 :   param_loader.loadParam(yaml_prefix + "utm_source_priority", utm_source_priority_list_);
+     295         186 :   for (auto utm_source : utm_source_priority_list_) {
+     296         183 :     if (Support::isStringInVector(utm_source, estimator_names_)) {
+     297          44 :       ROS_INFO("[%s]: the source for utm_origin and world origin is: %s", getPrintName().c_str(), utm_source.c_str());
+     298          44 :       utm_source_name_ = utm_source;
+     299          44 :       break;
+     300             :     }
+     301             :   }
+     302             : 
+     303             :   /*//{ initialize tf sources */
+     304          47 :   for (size_t i = 0; i < tf_source_names_.size(); i++) {
+     305             : 
+     306           0 :     const std::string tf_source_name = tf_source_names_[i];
+     307           0 :     const bool        is_utm_source  = tf_source_name == utm_source_name_;
+     308             : 
+     309           0 :     ROS_INFO("[%s]: loading tf source: %s", getPrintName().c_str(), tf_source_name.c_str());
+     310             : 
+     311           0 :     auto source_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + tf_source_name);
+     312             : 
+     313           0 :     if (_custom_config_ != "") {
+     314           0 :       source_param_loader->addYamlFile(_custom_config_);
+     315             :     }
+     316             : 
+     317           0 :     if (_platform_config_ != "") {
+     318           0 :       source_param_loader->addYamlFile(_platform_config_);
+     319             :     }
+     320             : 
+     321           0 :     if (_world_config_ != "") {
+     322           0 :       source_param_loader->addYamlFile(_world_config_);
+     323             :     }
+     324             : 
+     325           0 :     source_param_loader->addYamlFileFromParam("private_config");
+     326           0 :     source_param_loader->addYamlFileFromParam("public_config");
+     327           0 :     source_param_loader->addYamlFileFromParam("estimators_config");
+     328             : 
+     329           0 :     tf_sources_.push_back(std::make_unique<TfSource>(tf_source_name, nh_, source_param_loader, broadcaster_, ch_, is_utm_source));
+     330             :   }
+     331             : 
+     332             :   // additionally publish tf of all available estimators
+     333          94 :   for (int i = 0; i < int(estimator_names_.size()); i++) {
+     334             : 
+     335          94 :     const std::string estimator_name = estimator_names_[i];
+     336          47 :     const bool        is_utm_source  = estimator_name == utm_source_name_;
+     337          47 :     ROS_INFO("[%s]: loading tf source of estimator: %s", getPrintName().c_str(), estimator_name.c_str());
+     338             : 
+     339          47 :     auto estimator_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + estimator_name);
+     340             : 
+     341          47 :     if (_custom_config_ != "") {
+     342          47 :       estimator_param_loader->addYamlFile(_custom_config_);
+     343             :     }
+     344             : 
+     345          47 :     if (_platform_config_ != "") {
+     346          47 :       estimator_param_loader->addYamlFile(_platform_config_);
+     347             :     }
+     348             : 
+     349          47 :     if (_world_config_ != "") {
+     350          47 :       estimator_param_loader->addYamlFile(_world_config_);
+     351             :     }
+     352             : 
+     353          47 :     estimator_param_loader->addYamlFileFromParam("private_config");
+     354          47 :     estimator_param_loader->addYamlFileFromParam("public_config");
+     355          47 :     estimator_param_loader->addYamlFileFromParam("estimators_config");
+     356             : 
+     357          47 :     tf_sources_.push_back(std::make_unique<TfSource>(estimator_name, nh_, estimator_param_loader, broadcaster_, ch_, is_utm_source));
+     358             :   }
+     359             : 
+     360             :   // initialize mapping_origin tf
+     361             :   bool mapping_origin_tf_enabled;
+     362          47 :   param_loader.loadParam(yaml_prefix + "mapping_origin_tf/enabled", mapping_origin_tf_enabled, false);
+     363             : 
+     364          47 :   if (mapping_origin_tf_enabled) {
+     365             : 
+     366           0 :     auto mapping_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/mapping_origin_tf");
+     367             : 
+     368           0 :     if (_custom_config_ != "") {
+     369           0 :       mapping_param_loader->addYamlFile(_custom_config_);
+     370             :     }
+     371             : 
+     372           0 :     if (_platform_config_ != "") {
+     373           0 :       mapping_param_loader->addYamlFile(_platform_config_);
+     374             :     }
+     375             : 
+     376           0 :     if (_world_config_ != "") {
+     377           0 :       mapping_param_loader->addYamlFile(_world_config_);
+     378             :     }
+     379             : 
+     380           0 :     mapping_param_loader->addYamlFileFromParam("private_config");
+     381           0 :     mapping_param_loader->addYamlFileFromParam("public_config");
+     382           0 :     mapping_param_loader->addYamlFileFromParam("estimators_config");
+     383             : 
+     384           0 :     tf_mapping_origin_ = std::make_unique<TfMappingOrigin>(nh_, mapping_param_loader, broadcaster_, ch_);
+     385             :   }
+     386             : 
+     387             :   //}
+     388             : 
+     389             :   /*//{ initialize subscribers */
+     390          94 :   mrs_lib::SubscribeHandlerOptions shopts;
+     391          47 :   shopts.nh                 = nh_;
+     392          47 :   shopts.node_name          = getPrintName();
+     393          47 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     394          47 :   shopts.threadsafe         = true;
+     395          47 :   shopts.autostart          = true;
+     396          47 :   shopts.queue_size         = 10;
+     397          47 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     398             : 
+     399          47 :   sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &TransformManager::callbackUavState, this);
+     400             : 
+     401          47 :   sh_height_agl_ = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_agl_in", &TransformManager::callbackHeightAgl, this);
+     402             : 
+     403          47 :   sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in", &TransformManager::callbackAltitudeAmsl, this);
+     404             : 
+     405             :   sh_hw_api_orientation_ =
+     406          47 :       mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "orientation_in", &TransformManager::callbackHwApiOrientation, this);
+     407             : 
+     408          47 :   if (utm_source_name_ == "rtk" || utm_source_name_ == "rtk_garmin") {
+     409           2 :     sh_rtk_gps_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, "rtk_gps_in", &TransformManager::callbackRtkGps, this);
+     410             :   } else {
+     411          45 :     sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &TransformManager::callbackGnss, this);
+     412             :   }
+     413             :   /*//}*/
+     414             : 
+     415          47 :   if (!param_loader.loadedSuccessfully()) {
+     416           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     417           0 :     ros::shutdown();
+     418             :   }
+     419             : 
+     420          47 :   is_initialized_ = true;
+     421          47 :   ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     422          47 : }
+     423             : /*//}*/
+     424             : 
+     425             : /*//{ callbackUavState() */
+     426             : 
+     427       46761 : void TransformManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+     428             : 
+     429       46761 :   if (!is_initialized_) {
+     430        1277 :     return;
+     431             :   }
+     432             : 
+     433       93522 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     434             : 
+     435             :   // obtain first frame_id
+     436       46761 :   if (!is_first_frame_id_set_) {
+     437          47 :     first_frame_id_                = msg->header.frame_id;
+     438          47 :     last_frame_id_                 = msg->header.frame_id;
+     439          47 :     pose_fixed_                    = msg->pose;
+     440          47 :     pose_fixed_diff_.orientation.w = 1;
+     441          47 :     is_first_frame_id_set_         = true;
+     442             :   }
+     443             : 
+     444       46761 :   if (publish_local_origin_tf_) {
+     445             :     /*//{ publish local_origin tf*/
+     446       46761 :     geometry_msgs::TransformStamped tf_msg;
+     447       46761 :     tf_msg.header.stamp    = msg->header.stamp;
+     448       46761 :     tf_msg.header.frame_id = ns_local_origin_parent_frame_id_;
+     449       46761 :     tf_msg.child_frame_id  = ns_local_origin_child_frame_id_;
+     450             : 
+     451             :     // transform pose to first frame_id
+     452       46761 :     geometry_msgs::PoseStamped pose;
+     453       46761 :     pose.header = msg->header;
+     454       46761 :     pose.pose   = msg->pose;
+     455             : 
+     456       46761 :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     457           1 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     458             :                     pose.header.frame_id.c_str());
+     459           1 :       pose.pose.orientation.w = 1.0;
+     460             :     }
+     461             : 
+     462       93522 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_.substr(0, first_frame_id_.find("_origin")) + "_local_origin");
+     463             : 
+     464       46761 :     if (res) {
+     465       45484 :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     466       45484 :       const tf2::Transform      tf_inv   = tf.inverse();
+     467       45484 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     468       45484 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     469       45484 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     470             : 
+     471       45484 :       if (Support::noNans(tf_msg)) {
+     472             :         try {
+     473       45484 :           broadcaster_->sendTransform(tf_msg);
+     474             :         }
+     475           0 :         catch (...) {
+     476           0 :           ROS_ERROR("exception caught ");
+     477             :         }
+     478             :       } else {
+     479           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     480             :                           tf_msg.child_frame_id.c_str());
+     481             :       }
+     482       45484 :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     483             :                     tf_msg.child_frame_id.c_str());
+     484             :     } else {
+     485        1277 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform pose to %s. Not publishing local_origin transform.", getPrintName().c_str(), first_frame_id_.c_str());
+     486        1277 :       return;
+     487             :     }
+     488             :     /*//}*/
+     489             :   }
+     490             : 
+     491       45484 :   if (publish_stable_origin_tf_) {
+     492             :     /*//{ publish stable_origin tf*/
+     493       45484 :     geometry_msgs::TransformStamped tf_msg;
+     494       45484 :     tf_msg.header.stamp    = msg->header.stamp;
+     495       45484 :     tf_msg.header.frame_id = ns_stable_origin_parent_frame_id_;
+     496       45484 :     tf_msg.child_frame_id  = ns_stable_origin_child_frame_id_;
+     497             : 
+     498             :     // transform pose to first frame_id
+     499       45484 :     geometry_msgs::PoseStamped pose;
+     500       45484 :     pose.header = msg->header;
+     501       45484 :     pose.pose   = msg->pose;
+     502       45484 :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     503           0 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     504             :                     pose.header.frame_id.c_str());
+     505           0 :       pose.pose.orientation.w = 1.0;
+     506             :     }
+     507             : 
+     508       45484 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_);
+     509             : 
+     510       45484 :     if (res) {
+     511       45484 :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     512       45484 :       const tf2::Transform      tf_inv   = tf.inverse();
+     513       45484 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     514       45484 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     515       45484 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     516             : 
+     517       45484 :       if (Support::noNans(tf_msg)) {
+     518             :         try {
+     519       45484 :           broadcaster_->sendTransform(tf_msg);
+     520             :         }
+     521           0 :         catch (...) {
+     522           0 :           ROS_ERROR("exception caught ");
+     523             :         }
+     524             :       } else {
+     525           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     526             :                           tf_msg.child_frame_id.c_str());
+     527             :       }
+     528       45484 :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     529             :                     tf_msg.child_frame_id.c_str());
+     530             :     } else {
+     531           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform pose to %s. Not publishing stable_origin transform.", getPrintName().c_str(), first_frame_id_.c_str());
+     532           0 :       return;
+     533             :     }
+     534             :     /*//}*/
+     535             :   }
+     536             : 
+     537       45484 :   if (publish_fixed_origin_tf_) {
+     538             :     /*//{ publish fixed_origin tf*/
+     539       45484 :     if (msg->header.frame_id != last_frame_id_) {
+     540           0 :       ROS_WARN("[%s]: Detected estimator change from %s to %s. Updating offset for fixed origin.", getPrintName().c_str(), last_frame_id_.c_str(),
+     541             :                msg->header.frame_id.c_str());
+     542             : 
+     543           0 :       pose_fixed_diff_ = Support::getPoseDiff(msg->pose, pose_fixed_);
+     544             :     }
+     545             : 
+     546             : 
+     547       45484 :     pose_fixed_ = Support::applyPoseDiff(msg->pose, pose_fixed_diff_);
+     548             : 
+     549       90968 :     geometry_msgs::TransformStamped tf_msg;
+     550       45484 :     tf_msg.header.stamp    = msg->header.stamp;
+     551       45484 :     tf_msg.header.frame_id = ns_fixed_origin_parent_frame_id_;
+     552       45484 :     tf_msg.child_frame_id  = ns_fixed_origin_child_frame_id_;
+     553             : 
+     554       45484 :     const tf2::Transform      tf       = Support::tf2FromPose(pose_fixed_);
+     555       45484 :     const tf2::Transform      tf_inv   = tf.inverse();
+     556       45484 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     557       45484 :     tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     558       45484 :     tf_msg.transform.rotation          = pose_inv.orientation;
+     559             : 
+     560       45484 :     if (Support::noNans(tf_msg)) {
+     561             :       try {
+     562       45484 :         broadcaster_->sendTransform(tf_msg);
+     563             :       }
+     564           0 :       catch (...) {
+     565           0 :         ROS_ERROR("exception caught ");
+     566             :       }
+     567             :     } else {
+     568           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     569             :                         tf_msg.child_frame_id.c_str());
+     570             :     }
+     571       45484 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     572             :                   tf_msg.child_frame_id.c_str());
+     573             :     /*//}*/
+     574             :   }
+     575             : 
+     576             :   /*//{ choose another source of utm and world tfs after estimator switch */
+     577       45484 :   if (msg->header.frame_id != last_frame_id_) {
+     578           0 :     const std::string last_estimator_name    = Support::frameIdToEstimatorName(last_frame_id_);
+     579           0 :     const std::string current_estimator_name = Support::frameIdToEstimatorName(msg->header.frame_id);
+     580             : 
+     581           0 :     ROS_INFO("[%s]: Detected estimator switch: %s -> %s", getPrintName().c_str(), last_estimator_name.c_str(), current_estimator_name.c_str());
+     582             : 
+     583           0 :     bool   valid_utm_source_found = false;
+     584             :     size_t potential_utm_source_index;
+     585             : 
+     586           0 :     for (size_t i = 0; i < tf_sources_.size(); i++) {
+     587             : 
+     588             :       // first check if tf source can publish utm origin and is not the switched-from estimator
+     589           0 :       if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() != last_estimator_name) {
+     590             : 
+     591           0 :         valid_utm_source_found     = true;
+     592           0 :         potential_utm_source_index = i;
+     593             : 
+     594             :         // check if switched-to estimator is utm_based, if so, use it
+     595           0 :         if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() == current_estimator_name) {
+     596           0 :           potential_utm_source_index = i;
+     597           0 :           break;
+     598             :         }
+     599             :       }
+     600             :     }
+     601             : 
+     602             : 
+     603             :     // if we found a valid utm source, use it, otherwise stay with the switched-from estimator
+     604           0 :     if (valid_utm_source_found) {
+     605             : 
+     606             :       // stop all estimators from publishing utm source
+     607           0 :       for (size_t i = 0; i < tf_sources_.size(); i++) {
+     608           0 :         if (tf_sources_.at(i)->getIsUtmSource()) {
+     609           0 :           tf_sources_.at(i)->setIsUtmSource(false);
+     610           0 :           ROS_INFO("[%s]: setting is_utm_source of estimator %s to false", getPrintName().c_str(), last_estimator_name.c_str());
+     611             :         }
+     612             :       }
+     613             : 
+     614           0 :       tf_sources_.at(potential_utm_source_index)->setIsUtmSource(true);
+     615           0 :       ROS_INFO("[%s]: setting is_utm_source of estimator %s to true", getPrintName().c_str(), current_estimator_name.c_str());
+     616             :     }
+     617             :   }
+     618             :   /*//}*/
+     619             : 
+     620       45484 :   last_frame_id_ = msg->header.frame_id;
+     621             : }
+     622             : /*//}*/
+     623             : 
+     624             : /*//{ callbackHeightAgl() */
+     625             : 
+     626       42598 : void TransformManager::callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg) {
+     627             : 
+     628       42598 :   if (!is_initialized_) {
+     629           0 :     return;
+     630             :   }
+     631             : 
+     632      127794 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackHeightAgl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     633             : 
+     634       85196 :   geometry_msgs::TransformStamped tf_msg;
+     635       42598 :   tf_msg.header.stamp    = msg->header.stamp;
+     636       42598 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     637       42598 :   tf_msg.child_frame_id  = msg->header.frame_id;
+     638             : 
+     639       42598 :   tf_msg.transform.translation.x = 0;
+     640       42598 :   tf_msg.transform.translation.y = 0;
+     641       42598 :   tf_msg.transform.translation.z = -msg->value;
+     642       42598 :   tf_msg.transform.rotation.x    = 0;
+     643       42598 :   tf_msg.transform.rotation.y    = 0;
+     644       42598 :   tf_msg.transform.rotation.z    = 0;
+     645       42598 :   tf_msg.transform.rotation.w    = 1;
+     646             : 
+     647       42598 :   if (Support::noNans(tf_msg)) {
+     648             :     try {
+     649       42598 :       broadcaster_->sendTransform(tf_msg);
+     650             :     }
+     651           0 :     catch (...) {
+     652           0 :       ROS_ERROR("exception caught ");
+     653             :     }
+     654             :   } else {
+     655           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     656             :                       tf_msg.child_frame_id.c_str());
+     657             :   }
+     658       42598 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     659             :                 tf_msg.child_frame_id.c_str());
+     660             : }
+     661             : /*//}*/
+     662             : 
+     663             : /*//{ callbackAltitudeAmsl() */
+     664             : 
+     665       56158 : void TransformManager::callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg) {
+     666             : 
+     667       56158 :   if (!is_initialized_) {
+     668           0 :     return;
+     669             :   }
+     670             : 
+     671      168474 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackAltitudeAmsl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     672             : 
+     673      112316 :   geometry_msgs::TransformStamped tf_msg;
+     674       56158 :   tf_msg.header.stamp    = msg->stamp;
+     675       56158 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     676       56158 :   tf_msg.child_frame_id  = ch_->frames.ns_amsl;
+     677             : 
+     678       56158 :   tf_msg.transform.translation.x = 0;
+     679       56158 :   tf_msg.transform.translation.y = 0;
+     680       56158 :   tf_msg.transform.translation.z = -msg->amsl;
+     681       56158 :   tf_msg.transform.rotation.x    = 0;
+     682       56158 :   tf_msg.transform.rotation.y    = 0;
+     683       56158 :   tf_msg.transform.rotation.z    = 0;
+     684       56158 :   tf_msg.transform.rotation.w    = 1;
+     685             : 
+     686       56158 :   if (Support::noNans(tf_msg)) {
+     687             :     try {
+     688       56150 :       broadcaster_->sendTransform(tf_msg);
+     689             :     }
+     690           0 :     catch (...) {
+     691           0 :       ROS_ERROR("exception caught ");
+     692             :     }
+     693             :   } else {
+     694           8 :     ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     695             :                       tf_msg.child_frame_id.c_str());
+     696             :   }
+     697       56158 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     698             :                 tf_msg.child_frame_id.c_str());
+     699             : }
+     700             : /*//}*/
+     701             : 
+     702             : /*//{ callbackHwApiOrientation() */
+     703      163278 : void TransformManager::callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     704             : 
+     705      163278 :   if (!is_initialized_) {
+     706           0 :     return;
+     707             :   }
+     708             : 
+     709      489834 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     710             : 
+     711      163278 :   if (publish_fcu_untilted_tf_) {
+     712      163278 :     publishFcuUntiltedTf(msg);
+     713             :   }
+     714             : }
+     715             : /*//}*/
+     716             : 
+     717             : /*//{ callbackGnss() */
+     718       33427 : void TransformManager::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+     719             : 
+     720       33427 :   if (!is_initialized_) {
+     721       33382 :     return;
+     722             :   }
+     723             : 
+     724       33427 :   if (got_utm_offset_) {
+     725       33382 :     return;
+     726             :   }
+     727             : 
+     728          90 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackGnss", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     729             : 
+     730             :   double out_x;
+     731             :   double out_y;
+     732             : 
+     733          45 :   mrs_lib::UTM(msg->latitude, msg->longitude, &out_x, &out_y);
+     734             : 
+     735          45 :   if (!std::isfinite(out_x)) {
+     736           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     737           0 :     return;
+     738             :   }
+     739             : 
+     740          45 :   if (!std::isfinite(out_y)) {
+     741           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     742           0 :     return;
+     743             :   }
+     744             : 
+     745          45 :   geometry_msgs::Point utm_origin;
+     746          45 :   utm_origin.x = out_x;
+     747          45 :   utm_origin.y = out_y;
+     748          45 :   utm_origin.z = msg->altitude;
+     749             : 
+     750          45 :   ROS_INFO("[%s]: utm_origin position calculated as: x: %.2f, y: %.2f, z: %.2f from GNSS", getPrintName().c_str(), utm_origin.x, utm_origin.y, utm_origin.z);
+     751             : 
+     752          90 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     753          45 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     754          45 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     755             :   }
+     756          45 :   got_utm_offset_ = true;
+     757             : }
+     758             : /*//}*/
+     759             : 
+     760             : /*//{ callbackRtkGps() */
+     761        1293 : void TransformManager::callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg) {
+     762             : 
+     763        1293 :   if (!is_initialized_) {
+     764        1291 :     return;
+     765             :   }
+     766             : 
+     767        1293 :   if (got_utm_offset_) {
+     768        1289 :     return;
+     769             :   }
+     770             : 
+     771           8 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackRtkGps", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     772             : 
+     773             :   double out_x;
+     774             :   double out_y;
+     775             : 
+     776           4 :   geometry_msgs::PoseStamped rtk_pos;
+     777             : 
+     778           4 :   if (!std::isfinite(msg->gps.latitude)) {
+     779           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+     780           0 :     return;
+     781             :   }
+     782             : 
+     783           4 :   if (!std::isfinite(msg->gps.longitude)) {
+     784           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+     785           0 :     return;
+     786             :   }
+     787             : 
+     788           4 :   if (!std::isfinite(msg->gps.altitude)) {
+     789           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+     790           0 :     return;
+     791             :   }
+     792             : 
+     793           4 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+     794           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     795           0 :     return;
+     796             :   }
+     797             : 
+     798           4 :   rtk_pos.header = msg->header;
+     799           4 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+     800           4 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+     801           4 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     802             : 
+     803           4 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+     804           4 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+     805             : 
+     806             : 
+     807             :   // transform the RTK position from antenna to FCU
+     808           4 :   auto res = transformRtkToFcu(rtk_pos);
+     809           4 :   if (res) {
+     810           2 :     rtk_pos.pose = res.value();
+     811             :   } else {
+     812           2 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+     813           2 :     return;
+     814             :   }
+     815             : 
+     816           2 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &out_x, &out_y);
+     817             : 
+     818           2 :   if (!std::isfinite(out_x)) {
+     819           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     820           0 :     return;
+     821             :   }
+     822             : 
+     823           2 :   if (!std::isfinite(out_y)) {
+     824           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     825           0 :     return;
+     826             :   }
+     827             : 
+     828           2 :   geometry_msgs::Point utm_origin;
+     829           2 :   utm_origin.x = out_x;
+     830           2 :   utm_origin.y = out_y;
+     831           2 :   utm_origin.z = msg->gps.altitude;
+     832             : 
+     833           2 :   ROS_INFO("[%s]: utm_origin position calculated as: x: %.2f, y: %.2f, z: %.2f from RTK msg", getPrintName().c_str(), utm_origin.x, utm_origin.y, utm_origin.z);
+     834             : 
+     835           4 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     836           2 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     837           2 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     838             :   }
+     839           2 :   got_utm_offset_ = true;
+     840             : }
+     841             : /*//}*/
+     842             : 
+     843             : /*//{ publishFcuUntiltedTf() */
+     844      163278 : void TransformManager::publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     845             : 
+     846      326556 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     847             : 
+     848             :   double heading;
+     849             : 
+     850             :   try {
+     851      163278 :     heading = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     852             :   }
+     853           0 :   catch (...) {
+     854           0 :     ROS_ERROR("[%s]: Exception caught during getting heading", getPrintName().c_str());
+     855           0 :     return;
+     856             :   }
+     857      163278 :   scope_timer.checkpoint("heading");
+     858             : 
+     859      163278 :   const Eigen::Matrix3d odom_pixhawk_R = mrs_lib::AttitudeConverter(msg->quaternion);
+     860      163278 :   const Eigen::Matrix3d undo_heading_R = mrs_lib::AttitudeConverter(Eigen::AngleAxis(-heading, Eigen::Vector3d(0, 0, 1)));
+     861             : 
+     862      163278 :   const tf2::Quaternion q     = mrs_lib::AttitudeConverter(undo_heading_R * odom_pixhawk_R);
+     863      163278 :   const tf2::Quaternion q_inv = q.inverse();
+     864             : 
+     865      163278 :   scope_timer.checkpoint("q inverse");
+     866             : 
+     867      163278 :   geometry_msgs::TransformStamped tf;
+     868      163278 :   tf.header.stamp            = msg->header.stamp;  // TODO(petrlmat) ros::Time::now()?
+     869      163278 :   tf.header.frame_id         = ch_->frames.ns_fcu;
+     870      163278 :   tf.child_frame_id          = ch_->frames.ns_fcu_untilted;
+     871      163278 :   tf.transform.translation.x = 0.0;
+     872      163278 :   tf.transform.translation.y = 0.0;
+     873      163278 :   tf.transform.translation.z = 0.0;
+     874      163278 :   tf.transform.rotation      = mrs_lib::AttitudeConverter(q_inv);
+     875             : 
+     876      163278 :   scope_timer.checkpoint("tf fill");
+     877      163278 :   if (Support::noNans(tf)) {
+     878      163278 :     broadcaster_->sendTransform(tf);
+     879             :   } else {
+     880           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN encountered in fcu_untilted tf", getPrintName().c_str());
+     881             :   }
+     882      163278 :   scope_timer.checkpoint("tf pub");
+     883             : }
+     884             : /*//}*/
+     885             : 
+     886             : /*//{ transformRtkToFcu() */
+     887           4 : std::optional<geometry_msgs::Pose> TransformManager::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+     888             : 
+     889           8 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+     890             : 
+     891             :   // inject current orientation into rtk pose
+     892           8 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+     893           4 :   if (res1) {
+     894           2 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+     895             :   } else {
+     896           2 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s.", getPrintName().c_str(),
+     897             :                        ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+     898           2 :     return {};
+     899             :   }
+     900             : 
+     901             :   // invert tf
+     902           2 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+     903           4 :   geometry_msgs::PoseStamped utm_in_antenna;
+     904           2 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+     905           2 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+     906           2 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+     907             : 
+     908             :   // transform to fcu
+     909           4 :   geometry_msgs::PoseStamped utm_in_fcu;
+     910           2 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+     911           2 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+     912           4 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+     913             : 
+     914           2 :   if (res2) {
+     915           2 :     utm_in_fcu = res2.value();
+     916             :   } else {
+     917           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform RTK pose from %s to %s.", getPrintName().c_str(), utm_in_antenna.header.frame_id.c_str(), ch_->frames.ns_fcu.c_str());
+     918           0 :     return {};
+     919             :   }
+     920             : 
+     921             :   // invert tf
+     922           2 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+     923           2 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+     924             : 
+     925           2 :   return fcu_in_utm;
+     926             : }
+     927             : /*//}*/
+     928             : 
+     929             : /*//{ getName() */
+     930           0 : std::string TransformManager::getName() const {
+     931           0 :   return name_;
+     932             : }
+     933             : /*//}*/
+     934             : 
+     935             : /*//{ getPrintName() */
+     936         707 : std::string TransformManager::getPrintName() const {
+     937         707 :   return nodelet_name_;
+     938             : }
+     939             : /*//}*/
+     940             : 
+     941             : }  // namespace transform_manager
+     942             : 
+     943             : }  // namespace mrs_uav_managers
+     944             : 
+     945             : #include <pluginlib/class_list_macros.h>
+     946          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::transform_manager::TransformManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..83f104c1f8 --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html @@ -0,0 +1,257 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/transform_manager/transform_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.png b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..42ee6bc4c409e50fa4f215e5cf32bc003df85bf8 GIT binary patch literal 3294 zcmV<43?cK0P)0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vprBhU@tHcfDS& z!%^i$&6B*gNEV<0+*x%f7b{S#e-DtaodV6wi0B$9(li!A(F~Na6;SFL4BX2I-$t_> zg{HDVQP(!LaSt($;%<6{Vv|ubu)Aumn1Kk)0lTW+#msS%NfcibxS?SO*GsF`$e&U5 z1=Kyt6+qMoU+k>=ddZ~r>V#b>ZgVQrO)JCgHaj;f#buzatQ6B%6XCr;XRg`^9O7uT zNPL7!v7_$_#WWZ$`;>v97-pf}t+Z3EEEI5tL72cwDb^UY1DNeQgOH&L55mv)^ZaIeS{m17JhpvaW1l?dd< z?UENr?dV6;En{MLeHznqCvj1Rl$7E*!S-OqWq{-z5qN>`G^_4hHVJ)QuUuqlqAwj$ zb?(_qqiR!xrK@VldFVnDnFFf6P#)CSQjt@6&Bkr6arxKLLZOYE?Un;epoROyGqTTJ z6tS8JybWfWoT&e(#O5o`e=IL|8Tr1FW!4z zST*w0Hcn2SP{cOYUpS?WVj)$FIA;a!7&9*RwEv%*Rl6yYG66bU+L!}FVLdI|8>VV7 ztrgZHaFtjsWKBF3%|seio#=6Mss~y$&8}uaJR?|7v@LQ|ac^Y`aAJc!GgD^TiDt6{ zXe`oD03z?F$lAbl3Pdx^aKAr8d4!+!*Yfbcp3Ae80`#Br<B0r{ z80^gl?dwJt-XF%k?itrXI<68O9SZ%xmi8D0jz*!f%Z3HMy#B=z_=xX4;@CVx;Kw^% z);au!bzkhAhAq@q_6hg;4ZqSmHIp{VK(URPLIq5E=^S3M>{_K@9~D-8p1n@-L3>}b zK35Mj7D4Xp>yOk&x$0E+JJ)9aj~svF`p~{s+FSGxORtF{(r_5-vKLBI0T#zFxU5rtkzTtw z*cs9|i5U;HaBYk$o|dHP?U2044EpGO`q%iF=$wo^FneFGKG)+}+_9HKRw5(7%}T)a zIewUckK#xNpwT%a(U~PVgD8;F6-!wumewyY#8b-BNik7bTev8|J6jv|W?w*?^J-Tf z&_=b9Y8#&zcw!sZ0Gvo(YvY3ePiUiBK-DVlVFhOBhA|_SB?hk!k4X(+#e7+3s!Lfv zBb=Y4Uh|WqdlY1r>PxA{(S0!cxf-}W#}5@MZ-@=$3;GQb}vG!#8LL zn4Z@-#bV3uYWiGp{BGZs(uRVKB3{ls`2D8GpD$+~82FjX8N77;#O2H%EDP0=>N{-R zlcAfIGu&!DYy2t8nZw;Uko}-eQgy(0R>HG+GL?6JNf<}o3&d4BA=ra}E>di5Eas}4 zz(`TfEu3Mq>UEUMKx0W1wS#{Cqy7+yoZ%Nf-Vk)rk0bW%h{F_EO>b|8wSw!a8rZ_g z!Nqrenj-Ml;@L&6X^2Ct+Edi~WtzKIDJO&#nam_^4@ufOPwRr^S>>g)X53SA6*Q63 zG+Wf=2x#n>+c4W=`yC5SnCQJXIV+Tzi+s|(xyk3w7`cWnmo9MQ=EtcSl}fte+&7zz zb;VTf0)z#C8D&CWI=KJqf+d{eOlnm>1T%T)?w-Y9m=a*mO zr2^b$a`7qd27#)jJ}GU4HHnMdlY%Z2zf?f)^~$lmP6=FtTOZaRPAzNTn(@n|4q#yF z4??j3$-8_4GzNOGk@SascY9%#w~SQkGbAyHo`1t+)os*BGXm4KF2 z*Q%1XBvxE=tlB@N#LC4-POu|RooiaPam-W`KuqCHqkr;ie0c((2fxgjyO>l=XpS4i zQ;0stmA!G{(=(-5eSpJ*3LRlZWQMhgl=cWOt;5W)V}Z39M)ulPhX2D18?7syQ1Y*I zVj-qX58|L^<{miYACiA~Lj2KUUHkg_XI-0I|E#N~xIgQvat)jR%ps>|$SGLjiwJCs zyk|=J6zh77lMBzqIEgY4csY-@0QE|}kkpLqkJPfYa}D~s+ICrhAvwV+*n38b43{^` z++!)<6@IW-xM<=`77hay3s=jLt$N1i3unc`ZI4sv=_UpX7j0oxc%UuTe79M+JFzpO zh4VnuFdQ~c_M(NunFWf4^Hq0^>(G5g)u@F75hT(#)kOM6^D*S>qe66g4EKbO`9i5N zrt=z&0+)}wO1j=0XMx-<`o?_RY>$E}JT_B=cFU)*h*jgJ^AyeHMbW1fzp7k-P!>8Y z?aU0p)%5oognkW~kU;@_K4jRNxWf#VQuBkp?vW!JeRr=92H>g>;*?_MdWbyd46IAa z#`5ZZNdmXAO;`3}BQvns#`Qn53t-frcU{#qtl|!#j5Lv?StSHH((^#XEt;EN4Zq|p zmh`*28}4o#U6N8%IbDoWB(@Y_ywxE*E>YXUF@onQN?|MlD-~PB1>jf-?{%!h&8(bu zR!Z0$Ehf&qy?@f-{gfJd$W@yB_I~~53ETTdKm5#`kK?xYjlLN^h^Y8xm?F*Xm4HrD z-tEi?yZgIZ-K_rmC9l9_JkCF9%$SeGJ1O?6fb*wJwccLD{r2fw}&E{ zsvWl58KbvXW(v|bwT8dX!Xfi*T*7gaD4{37*3@)OJ%+vY;0iBu&h@?goWGa^(YzqQ{ z%d6`2Cp*wuwY{XYgpiXEuSH!`Vd|c#jsgf=n=<^%x~JXOeHRA+J(yD8%`;p^e1_31 z%`8vFo%*>_-@r`aL>w@;zi_2Q_|KIxa{Yg}Qo1*F##SY!ahMBmq>Qc?>(L#B1E6zu z?J@2Q!CSPzA(E5`ckV*79x_s2Te}dPLSQcYgi2usZmHUFH&4YLCRNKPMK^BwDhEpU z?1(q^UBky<&d=V!lm$K)PJyh&s;eU(GnxnMThp6&hn)d*!qJ%sG!`ZXAOhi80F7cb zx+I`=jVr8sN}6`e^xrxG$SaFaF>z|vCl$Ap+qp+69NzTEKr6*`57IR!t+(z`>igW?)@wujajZ8`{z{^5)&vJ-=CC^ax;m+BRPx~}VVw&(% zO+t+JaJoaXnmkP*e}GA{sk@I*WE%&&&??6mEU2Rcf_Na;EX8WF=QyE2ndblmCPThN zu+zWp7+m_F1-k8=?8|}fCFgxU)9I@NmxZT}nb?oq%*Hqs!aA;V4p%+!1bn}VYfBP@ zYJqChPR0;V&poK^1>nHDaHM5jAvg_VS&;N ci;J880bugt>SLox4gdfE07*qoM6N<$f`|oFV*mgE literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/uav_manager.cpp.func-sort-c.html b/mrs_uav_managers/src/uav_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..8c58fa63d0 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.func-sort-c.html @@ -0,0 +1,232 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - uav_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:548115147.6 %
Date:2023-12-06 10:06:33Functions:313881.6 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::uav_manager::UavManager::pirouetteSrv()0
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::uav_manager::UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::uav_manager::UavManager::elandSrv()0
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()0
mrs_uav_managers::uav_manager::UavManager::ungripSrv()0
mrs_uav_managers::uav_manager::UavManager::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()2
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)2
mrs_uav_managers::uav_manager::UavManager::landSrv()2
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()2
mrs_uav_managers::uav_manager::UavManager::disarmSrv()2
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)4
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()5
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)5
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)31
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)42
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)42
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()42
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)42
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)42
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_managers::uav_manager::UavManager::initialize()47
mrs_uav_managers::uav_manager::UavManager::preinitialize()47
mrs_uav_managers::uav_manager::UavManager::onInit()47
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)49
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)54
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)96
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)98
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)177
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)238
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)644
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)6665
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)6665
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)14544
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)32480
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)46753
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+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.func.html b/mrs_uav_managers/src/uav_manager.cpp.func.html new file mode 100644 index 0000000000..75efc1215e --- /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:548115147.6 %
Date:2023-12-06 10:06:33Functions:313881.6 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_managers::uav_manager::UavManager::initialize()47
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()5
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)42
mrs_uav_managers::uav_manager::UavManager::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::pirouetteSrv()0
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)177
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)238
mrs_uav_managers::uav_manager::UavManager::preinitialize()47
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)6665
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)6665
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)5
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)31
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)46753
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)98
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)644
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)14544
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)32480
mrs_uav_managers::uav_manager::UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)4
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()2
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)96
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)42
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()42
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)42
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)2
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)49
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)54
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)42
mrs_uav_managers::uav_manager::UavManager::onInit()47
mrs_uav_managers::uav_manager::UavManager::landSrv()2
mrs_uav_managers::uav_manager::UavManager::elandSrv()0
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()2
mrs_uav_managers::uav_manager::UavManager::disarmSrv()2
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()0
mrs_uav_managers::uav_manager::UavManager::ungripSrv()0
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Generated by: LCOV version 1.14
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+ + + 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..6d39ee9372 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.html @@ -0,0 +1,2732 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src - uav_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:548115147.6 %
Date:2023-12-06 10:06:33Functions:313881.6 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_srvs/SetBool.h>
+       7             : #include <std_srvs/Trigger.h>
+       8             : #include <std_msgs/String.h>
+       9             : #include <std_msgs/Float64.h>
+      10             : 
+      11             : #include <geometry_msgs/Vector3Stamped.h>
+      12             : 
+      13             : #include <nav_msgs/Odometry.h>
+      14             : #include <mrs_msgs/Vec1.h>
+      15             : #include <mrs_msgs/Vec4.h>
+      16             : #include <mrs_msgs/String.h>
+      17             : #include <mrs_msgs/TrackerCommand.h>
+      18             : #include <mrs_msgs/Float64Stamped.h>
+      19             : #include <mrs_msgs/Float64.h>
+      20             : #include <mrs_msgs/BoolStamped.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : #include <mrs_msgs/ReferenceStampedSrv.h>
+      23             : #include <mrs_msgs/ConstraintManagerDiagnostics.h>
+      24             : #include <mrs_msgs/GainManagerDiagnostics.h>
+      25             : #include <mrs_msgs/UavManagerDiagnostics.h>
+      26             : #include <mrs_msgs/EstimationDiagnostics.h>
+      27             : #include <mrs_msgs/HwApiStatus.h>
+      28             : #include <mrs_msgs/ControllerDiagnostics.h>
+      29             : #include <mrs_msgs/HwApiCapabilities.h>
+      30             : 
+      31             : #include <sensor_msgs/NavSatFix.h>
+      32             : 
+      33             : #include <mrs_lib/profiler.h>
+      34             : #include <mrs_lib/scope_timer.h>
+      35             : #include <mrs_lib/param_loader.h>
+      36             : #include <mrs_lib/mutex.h>
+      37             : #include <mrs_lib/transformer.h>
+      38             : #include <mrs_lib/attitude_converter.h>
+      39             : #include <mrs_lib/subscribe_handler.h>
+      40             : #include <mrs_lib/publisher_handler.h>
+      41             : #include <mrs_lib/service_client_handler.h>
+      42             : #include <mrs_lib/msg_extractor.h>
+      43             : #include <mrs_lib/geometry/cyclic.h>
+      44             : #include <mrs_lib/geometry/misc.h>
+      45             : #include <mrs_lib/quadratic_throttle_model.h>
+      46             : 
+      47             : //}
+      48             : 
+      49             : /* using //{ */
+      50             : 
+      51             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      52             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      53             : 
+      54             : using radians  = mrs_lib::geometry::radians;
+      55             : using sradians = mrs_lib::geometry::sradians;
+      56             : 
+      57             : //}
+      58             : 
+      59             : namespace mrs_uav_managers
+      60             : {
+      61             : 
+      62             : namespace uav_manager
+      63             : {
+      64             : 
+      65             : /* //{ class UavManager */
+      66             : 
+      67             : // state machine
+      68             : typedef enum
+      69             : {
+      70             : 
+      71             :   IDLE_STATE,
+      72             :   FLY_THERE_STATE,
+      73             :   LANDING_STATE,
+      74             : 
+      75             : } LandingStates_t;
+      76             : 
+      77             : const char* state_names[3] = {
+      78             : 
+      79             :     "IDLING", "FLYING HOME", "LANDING"};
+      80             : 
+      81             : class UavManager : public nodelet::Nodelet {
+      82             : 
+      83             : private:
+      84             :   ros::NodeHandle nh_;
+      85             :   bool            is_initialized_ = false;
+      86             :   std::string     _uav_name_;
+      87             : 
+      88             : public:
+      89             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+      90             : 
+      91             : public:
+      92             :   bool                                       scope_timer_enabled_ = false;
+      93             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+      94             : 
+      95             : public:
+      96             :   virtual void onInit();
+      97             : 
+      98             :   // | ------------------------- HW API ------------------------- |
+      99             : 
+     100             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_;
+     101             : 
+     102             :   // this timer will check till we already got the hardware api diagnostics
+     103             :   // then it will trigger the initialization of the controllers and finish
+     104             :   // the initialization of the ControlManager
+     105             :   ros::Timer timer_hw_api_capabilities_;
+     106             :   void       timerHwApiCapabilities(const ros::TimerEvent& event);
+     107             : 
+     108             :   void preinitialize(void);
+     109             :   void initialize(void);
+     110             : 
+     111             :   mrs_msgs::HwApiCapabilities hw_api_capabilities_;
+     112             : 
+     113             :   // | ----------------------- subscribers ---------------------- |
+     114             : 
+     115             :   mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>        sh_controller_diagnostics_;
+     116             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry>                     sh_odometry_;
+     117             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>        sh_estimation_diagnostics_;
+     118             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>    sh_control_manager_diag_;
+     119             :   mrs_lib::SubscribeHandler<std_msgs::Float64>                      sh_mass_estimate_;
+     120             :   mrs_lib::SubscribeHandler<std_msgs::Float64>                      sh_throttle_;
+     121             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>               sh_height_;
+     122             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>                  sh_hw_api_status_;
+     123             :   mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>       sh_gains_diag_;
+     124             :   mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics> sh_constraints_diag_;
+     125             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>                 sh_hw_api_gnss_;
+     126             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>               sh_max_height_;
+     127             :   mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>               sh_tracker_cmd_;
+     128             : 
+     129             :   void callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg);
+     130             :   void callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     131             : 
+     132             :   // service servers
+     133             :   ros::ServiceServer service_server_takeoff_;
+     134             :   ros::ServiceServer service_server_land_;
+     135             :   ros::ServiceServer service_server_land_home_;
+     136             :   ros::ServiceServer service_server_land_there_;
+     137             :   ros::ServiceServer service_server_midair_activation_;
+     138             : 
+     139             :   // service callbacks
+     140             :   bool callbackTakeoff(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     141             :   bool callbackLand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     142             :   bool callbackLandHome(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     143             :   bool callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     144             : 
+     145             :   // service clients
+     146             :   mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>                sch_takeoff_;
+     147             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>              sch_switch_tracker_;
+     148             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>              sch_switch_controller_;
+     149             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_land_;
+     150             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_eland_;
+     151             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_ehover_;
+     152             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_control_callbacks_;
+     153             :   mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> sch_emergency_reference_;
+     154             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_arm_;
+     155             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_pirouette_;
+     156             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_odometry_callbacks_;
+     157             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_ungrip_;
+     158             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_toggle_control_output_;
+     159             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_offboard_;
+     160             : 
+     161             :   // service client wrappers
+     162             :   bool takeoffSrv(void);
+     163             :   bool switchTrackerSrv(const std::string& tracker);
+     164             :   bool switchControllerSrv(const std::string& controller);
+     165             :   bool landSrv(void);
+     166             :   bool elandSrv(void);
+     167             :   bool ehoverSrv(void);
+     168             :   void disarmSrv(void);
+     169             :   bool emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal);
+     170             :   void setOdometryCallbacksSrv(const bool& input);
+     171             :   void setControlCallbacksSrv(const bool& input);
+     172             :   void ungripSrv(void);
+     173             :   bool toggleControlOutput(const bool& input);
+     174             :   void pirouetteSrv(void);
+     175             :   bool offboardSrv(const bool in);
+     176             : 
+     177             :   ros::Timer timer_takeoff_;
+     178             :   ros::Timer timer_max_height_;
+     179             :   ros::Timer timer_min_height_;
+     180             :   ros::Timer timer_landing_;
+     181             :   ros::Timer timer_maxthrottle_;
+     182             :   ros::Timer timer_flighttime_;
+     183             :   ros::Timer timer_diagnostics_;
+     184             :   ros::Timer timer_midair_activation_;
+     185             : 
+     186             :   // timer callbacks
+     187             :   void timerLanding(const ros::TimerEvent& event);
+     188             :   void timerTakeoff(const ros::TimerEvent& event);
+     189             :   void timerMaxHeight(const ros::TimerEvent& event);
+     190             :   void timerMinHeight(const ros::TimerEvent& event);
+     191             :   void timerFlightTime(const ros::TimerEvent& event);
+     192             :   void timerMaxthrottle(const ros::TimerEvent& event);
+     193             :   void timerDiagnostics(const ros::TimerEvent& event);
+     194             : 
+     195             :   // publishers
+     196             :   mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics> ph_diag_;
+     197             : 
+     198             :   // max height checking
+     199             :   bool              _max_height_enabled_ = false;
+     200             :   double            _max_height_checking_rate_;
+     201             :   double            _max_height_offset_;
+     202             :   std::atomic<bool> fixing_max_height_ = false;
+     203             : 
+     204             :   // min height checking
+     205             :   bool              _min_height_enabled_ = false;
+     206             :   double            _min_height_checking_rate_;
+     207             :   double            _min_height_offset_;
+     208             :   double            _min_height_;
+     209             :   std::atomic<bool> fixing_min_height_ = false;
+     210             : 
+     211             :   // mass estimation during landing
+     212             :   double    throttle_mass_estimate_;
+     213             :   bool      throttle_under_threshold_ = false;
+     214             :   ros::Time throttle_mass_estimate_first_time_;
+     215             : 
+     216             :   // velocity during landing
+     217             :   bool      velocity_under_threshold_ = false;
+     218             :   ros::Time velocity_under_threshold_first_time_;
+     219             : 
+     220             :   bool _gain_manager_required_       = false;
+     221             :   bool _constraint_manager_required_ = false;
+     222             : 
+     223             :   std::tuple<bool, std::string> landImpl(void);
+     224             :   std::tuple<bool, std::string> landWithDescendImpl(void);
+     225             :   std::tuple<bool, std::string> midairActivationImpl(void);
+     226             : 
+     227             :   // saved takeoff coordinates and allows to land there again
+     228             :   mrs_msgs::ReferenceStamped land_there_reference_;
+     229             :   std::mutex                 mutex_land_there_reference_;
+     230             : 
+     231             :   // to which height to takeoff
+     232             :   double _takeoff_height_;
+     233             : 
+     234             :   std::atomic<bool> takeoff_successful_ = false;
+     235             : 
+     236             :   // names of important trackers
+     237             :   std::string _null_tracker_name_;
+     238             : 
+     239             :   // takeoff timer
+     240             :   double     _takeoff_timer_rate_;
+     241             :   bool       takingoff_            = false;
+     242             :   int        number_of_takeoffs_   = 0;
+     243             :   double     last_mass_difference_ = 0;
+     244             :   std::mutex mutex_last_mass_difference_;
+     245             :   bool       waiting_for_takeoff_ = false;
+     246             : 
+     247             :   // after takeoff
+     248             :   std::string _after_takeoff_tracker_name_;
+     249             :   std::string _after_takeoff_controller_name_;
+     250             :   std::string _takeoff_tracker_name_;
+     251             :   std::string _takeoff_controller_name_;
+     252             :   bool        _after_takeoff_pirouette_ = false;
+     253             : 
+     254             :   // Landing timer
+     255             :   std::string _landing_tracker_name_;
+     256             :   std::string _landing_controller_name_;
+     257             :   double      _landing_cutoff_mass_factor_;
+     258             :   double      _landing_cutoff_mass_timeout_;
+     259             :   double      _landing_timer_rate_;
+     260             :   double      _landing_descend_height_;
+     261             :   bool        landing_ = false;
+     262             :   double      _uav_mass_;
+     263             :   double      _g_;
+     264             :   double      landing_uav_mass_;
+     265             :   bool        _landing_disarm_ = false;
+     266             :   double      _landing_tracking_tolerance_translation_;
+     267             :   double      _landing_tracking_tolerance_heading_;
+     268             : 
+     269             :   // diagnostics timer
+     270             :   double _diagnostics_timer_rate_;
+     271             : 
+     272             :   mrs_lib::quadratic_throttle_model::MotorParams_t _throttle_model_;
+     273             : 
+     274             :   // landing state machine states
+     275             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     276             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     277             : 
+     278             :   // timer for checking max flight time
+     279             :   double     _flighttime_timer_rate_;
+     280             :   double     _flighttime_max_time_;
+     281             :   bool       _flighttime_timer_enabled_ = false;
+     282             :   double     flighttime_                = 0;
+     283             :   std::mutex mutex_flighttime_;
+     284             : 
+     285             :   // timer for checking maximum throttle
+     286             :   bool      _maxthrottle_timer_enabled_ = false;
+     287             :   double    _maxthrottle_timer_rate_;
+     288             :   double    _maxthrottle_max_throttle_;
+     289             :   double    _maxthrottle_eland_timeout_;
+     290             :   double    _maxthrottle_ungrip_timeout_;
+     291             :   bool      maxthrottle_above_threshold_ = false;
+     292             :   ros::Time maxthrottle_first_time_;
+     293             : 
+     294             :   // profiler
+     295             :   mrs_lib::Profiler profiler_;
+     296             :   bool              _profiler_enabled_ = false;
+     297             : 
+     298             :   // midair activation
+     299             :   void      timerMidairActivation(const ros::TimerEvent& event);
+     300             :   bool      callbackMidairActivation(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     301             :   ros::Time midair_activation_started_;
+     302             : 
+     303             :   double      _midair_activation_timer_rate_;
+     304             :   std::string _midair_activation_during_controller_;
+     305             :   std::string _midair_activation_during_tracker_;
+     306             :   std::string _midair_activation_after_controller_;
+     307             :   std::string _midair_activation_after_tracker_;
+     308             : 
+     309             :   void changeLandingState(LandingStates_t new_state);
+     310             : };
+     311             : 
+     312             : //}
+     313             : 
+     314             : /* onInit() //{ */
+     315             : 
+     316          47 : void UavManager::onInit() {
+     317          47 :   preinitialize();
+     318          47 : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* preinitialize() //{ */
+     323             : 
+     324          47 : void UavManager::preinitialize(void) {
+     325             : 
+     326          47 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     327             : 
+     328          47 :   ros::Time::waitForValid();
+     329             : 
+     330          47 :   mrs_lib::SubscribeHandlerOptions shopts;
+     331          47 :   shopts.nh                 = nh_;
+     332          47 :   shopts.node_name          = "ControlManager";
+     333          47 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     334          47 :   shopts.threadsafe         = true;
+     335          47 :   shopts.autostart          = true;
+     336          47 :   shopts.queue_size         = 10;
+     337          47 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     338             : 
+     339          47 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     340             : 
+     341          47 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &UavManager::timerHwApiCapabilities, this);
+     342          47 : }
+     343             : 
+     344             : //}
+     345             : 
+     346             : /* initialize() //{ */
+     347             : 
+     348          47 : void UavManager::initialize() {
+     349             : 
+     350          47 :   ROS_INFO("[UavManager]: initializing");
+     351             : 
+     352          94 :   mrs_lib::ParamLoader param_loader(nh_, "UavManager");
+     353             : 
+     354          94 :   std::string custom_config_path;
+     355          94 :   std::string platform_config_path;
+     356          94 :   std::string world_config_path;
+     357             : 
+     358          47 :   param_loader.loadParam("custom_config", custom_config_path);
+     359          47 :   param_loader.loadParam("platform_config", platform_config_path);
+     360          47 :   param_loader.loadParam("world_config", world_config_path);
+     361             : 
+     362          47 :   if (custom_config_path != "") {
+     363          47 :     param_loader.addYamlFile(custom_config_path);
+     364             :   }
+     365             : 
+     366          47 :   if (platform_config_path != "") {
+     367          47 :     param_loader.addYamlFile(platform_config_path);
+     368             :   }
+     369             : 
+     370          47 :   if (world_config_path != "") {
+     371          47 :     param_loader.addYamlFile(world_config_path);
+     372             :   }
+     373             : 
+     374          47 :   param_loader.addYamlFileFromParam("private_config");
+     375          47 :   param_loader.addYamlFileFromParam("public_config");
+     376             : 
+     377          94 :   const std::string yaml_prefix = "mrs_uav_managers/uav_manager/";
+     378             : 
+     379             :   // params passed from the launch file are not prefixed
+     380          47 :   param_loader.loadParam("uav_name", _uav_name_);
+     381          47 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     382          47 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     383          47 :   param_loader.loadParam("g", _g_);
+     384             : 
+     385             :   // motor params are also not prefixed, since they are common to more nodes
+     386          47 :   param_loader.loadParam("motor_params/n_motors", _throttle_model_.n_motors);
+     387          47 :   param_loader.loadParam("motor_params/a", _throttle_model_.A);
+     388          47 :   param_loader.loadParam("motor_params/b", _throttle_model_.B);
+     389             : 
+     390          47 :   param_loader.loadParam(yaml_prefix + "null_tracker", _null_tracker_name_);
+     391             : 
+     392          47 :   param_loader.loadParam(yaml_prefix + "takeoff/rate", _takeoff_timer_rate_);
+     393          47 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/tracker", _after_takeoff_tracker_name_);
+     394          47 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/controller", _after_takeoff_controller_name_);
+     395          47 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/pirouette", _after_takeoff_pirouette_);
+     396          47 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/controller", _takeoff_controller_name_);
+     397          47 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/tracker", _takeoff_tracker_name_);
+     398          47 :   param_loader.loadParam(yaml_prefix + "takeoff/takeoff_height", _takeoff_height_);
+     399             : 
+     400          47 :   param_loader.loadParam(yaml_prefix + "landing/rate", _landing_timer_rate_);
+     401          47 :   param_loader.loadParam(yaml_prefix + "landing/landing_tracker", _landing_tracker_name_);
+     402          47 :   param_loader.loadParam(yaml_prefix + "landing/landing_controller", _landing_controller_name_);
+     403          47 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_mass_factor", _landing_cutoff_mass_factor_);
+     404          47 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_timeout", _landing_cutoff_mass_timeout_);
+     405          47 :   param_loader.loadParam(yaml_prefix + "landing/disarm", _landing_disarm_);
+     406          47 :   param_loader.loadParam(yaml_prefix + "landing/descend_height", _landing_descend_height_);
+     407          47 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/translation", _landing_tracking_tolerance_translation_);
+     408          47 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/heading", _landing_tracking_tolerance_heading_);
+     409             : 
+     410          47 :   param_loader.loadParam(yaml_prefix + "midair_activation/rate", _midair_activation_timer_rate_);
+     411          47 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/controller", _midair_activation_during_controller_);
+     412          47 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/tracker", _midair_activation_during_tracker_);
+     413          47 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/controller", _midair_activation_after_controller_);
+     414          47 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/tracker", _midair_activation_after_tracker_);
+     415             : 
+     416          47 :   param_loader.loadParam(yaml_prefix + "max_height_checking/enabled", _max_height_enabled_);
+     417          47 :   param_loader.loadParam(yaml_prefix + "max_height_checking/rate", _max_height_checking_rate_);
+     418          47 :   param_loader.loadParam(yaml_prefix + "max_height_checking/safety_height_offset", _max_height_offset_);
+     419             : 
+     420          47 :   param_loader.loadParam(yaml_prefix + "min_height_checking/enabled", _min_height_enabled_);
+     421          47 :   param_loader.loadParam(yaml_prefix + "min_height_checking/rate", _min_height_checking_rate_);
+     422          47 :   param_loader.loadParam(yaml_prefix + "min_height_checking/safety_height_offset", _min_height_offset_);
+     423          47 :   param_loader.loadParam(yaml_prefix + "min_height_checking/min_height", _min_height_);
+     424             : 
+     425          47 :   param_loader.loadParam(yaml_prefix + "require_gain_manager", _gain_manager_required_);
+     426          47 :   param_loader.loadParam(yaml_prefix + "require_constraint_manager", _constraint_manager_required_);
+     427             : 
+     428          47 :   param_loader.loadParam(yaml_prefix + "flight_timer/enabled", _flighttime_timer_enabled_);
+     429          47 :   param_loader.loadParam(yaml_prefix + "flight_timer/rate", _flighttime_timer_rate_);
+     430          47 :   param_loader.loadParam(yaml_prefix + "flight_timer/max_time", _flighttime_max_time_);
+     431             : 
+     432          47 :   param_loader.loadParam(yaml_prefix + "max_throttle/enabled", _maxthrottle_timer_enabled_);
+     433          47 :   param_loader.loadParam(yaml_prefix + "max_throttle/rate", _maxthrottle_timer_rate_);
+     434          47 :   param_loader.loadParam(yaml_prefix + "max_throttle/max_throttle", _maxthrottle_max_throttle_);
+     435          47 :   param_loader.loadParam(yaml_prefix + "max_throttle/eland_timeout", _maxthrottle_eland_timeout_);
+     436          47 :   param_loader.loadParam(yaml_prefix + "max_throttle/ungrip_timeout", _maxthrottle_ungrip_timeout_);
+     437             : 
+     438          47 :   param_loader.loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_timer_rate_);
+     439             : 
+     440             :   // | ------------------- scope timer logger ------------------- |
+     441             : 
+     442          47 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     443         141 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     444          47 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     445             : 
+     446          47 :   if (!param_loader.loadedSuccessfully()) {
+     447           0 :     ROS_ERROR("[UavManager]: Could not load all parameters!");
+     448           0 :     ros::shutdown();
+     449             :   }
+     450             : 
+     451             :   // | --------------------- tf transformer --------------------- |
+     452             : 
+     453          47 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+     454          47 :   transformer_->setDefaultPrefix(_uav_name_);
+     455          47 :   transformer_->retryLookupNewest(true);
+     456             : 
+     457             :   // | ----------------------- subscribers ---------------------- |
+     458             : 
+     459          94 :   mrs_lib::SubscribeHandlerOptions shopts;
+     460          47 :   shopts.nh                 = nh_;
+     461          47 :   shopts.node_name          = "UavManager";
+     462          47 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     463          47 :   shopts.threadsafe         = true;
+     464          47 :   shopts.autostart          = true;
+     465          47 :   shopts.queue_size         = 10;
+     466          47 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     467             : 
+     468          47 :   sh_controller_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>(shopts, "controller_diagnostics_in");
+     469          47 :   sh_odometry_               = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &UavManager::callbackOdometry, this);
+     470          47 :   sh_estimation_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "odometry_diagnostics_in");
+     471          47 :   sh_control_manager_diag_   = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     472          47 :   sh_mass_estimate_          = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "mass_estimate_in");
+     473          47 :   sh_throttle_               = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "throttle_in");
+     474          47 :   sh_height_                 = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_in");
+     475          47 :   sh_hw_api_status_          = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in");
+     476          47 :   sh_gains_diag_             = mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>(shopts, "gain_manager_diagnostics_in");
+     477          47 :   sh_constraints_diag_       = mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics>(shopts, "constraint_manager_diagnostics_in");
+     478          47 :   sh_hw_api_gnss_            = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "hw_api_gnss_in", &UavManager::callbackHwApiGNSS, this);
+     479          47 :   sh_max_height_             = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_height_in");
+     480          47 :   sh_tracker_cmd_            = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     481             : 
+     482             :   // | ----------------------- publishers ----------------------- |
+     483             : 
+     484          47 :   ph_diag_ = mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     485             : 
+     486             :   // | --------------------- service servers -------------------- |
+     487             : 
+     488          47 :   service_server_takeoff_           = nh_.advertiseService("takeoff_in", &UavManager::callbackTakeoff, this);
+     489          47 :   service_server_land_              = nh_.advertiseService("land_in", &UavManager::callbackLand, this);
+     490          47 :   service_server_land_home_         = nh_.advertiseService("land_home_in", &UavManager::callbackLandHome, this);
+     491          47 :   service_server_land_there_        = nh_.advertiseService("land_there_in", &UavManager::callbackLandThere, this);
+     492          47 :   service_server_midair_activation_ = nh_.advertiseService("midair_activation_in", &UavManager::callbackMidairActivation, this);
+     493             : 
+     494             :   // | --------------------- service clients -------------------- |
+     495             : 
+     496          47 :   sch_takeoff_               = mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>(nh_, "takeoff_out");
+     497          47 :   sch_land_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "land_out");
+     498          47 :   sch_eland_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+     499          47 :   sch_ehover_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ehover_out");
+     500          47 :   sch_switch_tracker_        = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_tracker_out");
+     501          47 :   sch_switch_controller_     = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_controller_out");
+     502          47 :   sch_emergency_reference_   = mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>(nh_, "emergency_reference_out");
+     503          47 :   sch_control_callbacks_     = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "enable_callbacks_out");
+     504          47 :   sch_arm_                   = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "arm_out");
+     505          47 :   sch_pirouette_             = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "pirouette_out");
+     506          47 :   sch_odometry_callbacks_    = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+     507          47 :   sch_ungrip_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+     508          47 :   sch_toggle_control_output_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "toggle_control_output_out");
+     509          47 :   sch_offboard_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "offboard_out");
+     510             : 
+     511             :   // | ---------------------- state machine --------------------- |
+     512             : 
+     513          47 :   current_state_landing_ = IDLE_STATE;
+     514             : 
+     515             :   // | ------------------------ profiler ------------------------ |
+     516             : 
+     517          47 :   profiler_ = mrs_lib::Profiler(nh_, "UavManager", _profiler_enabled_);
+     518             : 
+     519             :   // | ------------------------- timers ------------------------- |
+     520             : 
+     521          47 :   timer_landing_           = nh_.createTimer(ros::Rate(_landing_timer_rate_), &UavManager::timerLanding, this, false, false);
+     522          47 :   timer_takeoff_           = nh_.createTimer(ros::Rate(_takeoff_timer_rate_), &UavManager::timerTakeoff, this, false, false);
+     523          47 :   timer_flighttime_        = nh_.createTimer(ros::Rate(_flighttime_timer_rate_), &UavManager::timerFlightTime, this, false, false);
+     524          47 :   timer_diagnostics_       = nh_.createTimer(ros::Rate(_diagnostics_timer_rate_), &UavManager::timerDiagnostics, this);
+     525          47 :   timer_midair_activation_ = nh_.createTimer(ros::Rate(_midair_activation_timer_rate_), &UavManager::timerMidairActivation, this, false, false);
+     526          94 :   timer_max_height_        = nh_.createTimer(ros::Rate(_max_height_checking_rate_), &UavManager::timerMaxHeight, this, false,
+     527          94 :                                       _max_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     528          94 :   timer_min_height_        = nh_.createTimer(ros::Rate(_min_height_checking_rate_), &UavManager::timerMinHeight, this, false,
+     529          94 :                                       _min_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     530             : 
+     531          44 :   bool should_check_throttle = hw_api_capabilities_.accepts_actuator_cmd || hw_api_capabilities_.accepts_control_group_cmd ||
+     532          91 :                                hw_api_capabilities_.accepts_attitude_rate_cmd || hw_api_capabilities_.accepts_attitude_cmd;
+     533             : 
+     534             :   timer_maxthrottle_ =
+     535          47 :       nh_.createTimer(ros::Rate(_maxthrottle_timer_rate_), &UavManager::timerMaxthrottle, this, false, _maxthrottle_timer_enabled_ && should_check_throttle);
+     536             : 
+     537             :   // | ----------------------- finish init ---------------------- |
+     538             : 
+     539          47 :   is_initialized_ = true;
+     540             : 
+     541          47 :   ROS_INFO("[UavManager]: initialized");
+     542             : 
+     543          47 :   ROS_DEBUG("[UavManager]: debug output is enabled");
+     544          47 : }
+     545             : 
+     546             : //}
+     547             : 
+     548             : //}
+     549             : 
+     550             : // | ---------------------- state machine --------------------- |
+     551             : 
+     552             : /* //{ changeLandingState() */
+     553             : 
+     554           4 : void UavManager::changeLandingState(LandingStates_t new_state) {
+     555             : 
+     556           4 :   previous_state_landing_ = current_state_landing_;
+     557           4 :   current_state_landing_  = new_state;
+     558             : 
+     559           4 :   switch (current_state_landing_) {
+     560             : 
+     561           2 :     case LANDING_STATE: {
+     562             : 
+     563           2 :       if (sh_mass_estimate_.hasMsg() && (ros::Time::now() - sh_mass_estimate_.lastMsgTime()).toSec() < 1.0) {
+     564             : 
+     565             :         // copy member variables
+     566           2 :         auto mass_esimtate = sh_mass_estimate_.getMsg();
+     567             : 
+     568           2 :         landing_uav_mass_ = mass_esimtate->data;
+     569             :       }
+     570             : 
+     571           2 :       break;
+     572             :     };
+     573             : 
+     574           2 :     default: {
+     575           2 :       break;
+     576             :     }
+     577             :   }
+     578             : 
+     579             :   // just for ROS_INFO
+     580           4 :   ROS_INFO("[UavManager]: Switching landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+     581           4 : }
+     582             : 
+     583             : //}
+     584             : 
+     585             : // --------------------------------------------------------------
+     586             : // |                           timers                           |
+     587             : // --------------------------------------------------------------
+     588             : 
+     589             : /* timerHwApiCapabilities() //{ */
+     590             : 
+     591          49 : void UavManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+     592             : 
+     593          98 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", 1.0, 1.0, event);
+     594          98 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+     595             : 
+     596          49 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     597           2 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+     598           2 :     return;
+     599             :   }
+     600             : 
+     601          47 :   hw_api_capabilities_ = *sh_hw_api_capabilities_.getMsg();
+     602             : 
+     603          47 :   ROS_INFO("[ControlManager]: got HW API capabilities, initializing");
+     604             : 
+     605          47 :   initialize();
+     606             : 
+     607          47 :   timer_hw_api_capabilities_.stop();
+     608             : }
+     609             : 
+     610             : //}
+     611             : 
+     612             : /* //{ timerLanding() */
+     613             : 
+     614         177 : void UavManager::timerLanding(const ros::TimerEvent& event) {
+     615             : 
+     616         177 :   if (!is_initialized_)
+     617           0 :     return;
+     618             : 
+     619         354 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerLanding", _landing_timer_rate_, 0.1, event);
+     620         354 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerLanding", scope_timer_logger_, scope_timer_enabled_);
+     621             : 
+     622         177 :   auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+     623             : 
+     624             :   // copy member variables
+     625         177 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     626         177 :   auto odometry                    = sh_odometry_.getMsg();
+     627         177 :   auto tracker_cmd                 = sh_tracker_cmd_.getMsg();
+     628             : 
+     629         177 :   std::optional<double> desired_throttle;
+     630             : 
+     631         177 :   if (sh_throttle_.hasMsg() && (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() < 1.0) {
+     632         177 :     desired_throttle = sh_throttle_.getMsg()->data;
+     633             :   }
+     634             : 
+     635         177 :   auto res = transformer_->transformSingle(land_there_reference, odometry->header.frame_id);
+     636             : 
+     637         177 :   mrs_msgs::ReferenceStamped land_there_current_frame;
+     638             : 
+     639         177 :   if (res) {
+     640         177 :     land_there_current_frame = res.value();
+     641             :   } else {
+     642             : 
+     643           0 :     ROS_ERROR("[UavManager]: could not transform the reference into the current frame! land by yourself pls.");
+     644           0 :     return;
+     645             :   }
+     646             : 
+     647         177 :   if (current_state_landing_ == IDLE_STATE) {
+     648             : 
+     649           0 :     return;
+     650             : 
+     651         177 :   } else if (current_state_landing_ == FLY_THERE_STATE) {
+     652             : 
+     653           0 :     auto [pos_x, pos_y, pos_z] = mrs_lib::getPosition(*tracker_cmd);
+     654           0 :     auto [ref_x, ref_y, ref_z] = mrs_lib::getPosition(land_there_current_frame);
+     655             : 
+     656           0 :     double pos_heading = tracker_cmd->heading;
+     657             : 
+     658           0 :     double ref_heading = 0;
+     659             :     try {
+     660           0 :       ref_heading = mrs_lib::getHeading(land_there_current_frame);
+     661             :     }
+     662           0 :     catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     663           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     664           0 :       return;
+     665             :     }
+     666             : 
+     667           0 :     if (mrs_lib::geometry::dist(vec3_t(pos_x, pos_y, pos_z), vec3_t(ref_x, ref_y, ref_z)) < _landing_tracking_tolerance_translation_ &&
+     668           0 :         fabs(radians::diff(pos_heading, ref_heading)) < _landing_tracking_tolerance_heading_) {
+     669             : 
+     670           0 :       auto [success, message] = landWithDescendImpl();
+     671             : 
+     672           0 :       if (!success) {
+     673             : 
+     674           0 :         ROS_ERROR_THROTTLE(1.0, "[UavManager]: call for landing failed: '%s'", message.c_str());
+     675             :       }
+     676             : 
+     677           0 :     } else if (!control_manager_diagnostics->tracker_status.have_goal && control_manager_diagnostics->flying_normally) {
+     678             : 
+     679           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: the tracker does not have a goal while flying home, setting the reference again");
+     680             : 
+     681           0 :       mrs_msgs::ReferenceStamped reference_out;
+     682             : 
+     683             :       {
+     684           0 :         std::scoped_lock lock(mutex_land_there_reference_);
+     685             : 
+     686             :         // get the current altitude in land_there_reference_.header.frame_id;
+     687           0 :         geometry_msgs::PoseStamped current_pose;
+     688           0 :         current_pose.header.stamp     = ros::Time::now();
+     689           0 :         current_pose.header.frame_id  = _uav_name_ + "/fcu";
+     690           0 :         current_pose.pose.position.x  = 0;
+     691           0 :         current_pose.pose.position.y  = 0;
+     692           0 :         current_pose.pose.position.z  = 0;
+     693           0 :         current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     694             : 
+     695           0 :         auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+     696             : 
+     697           0 :         if (response) {
+     698             : 
+     699           0 :           land_there_reference_.reference.position.z = response.value().pose.position.z;
+     700           0 :           ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+     701             : 
+     702             :         } else {
+     703             : 
+     704           0 :           std::stringstream ss;
+     705           0 :           ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+     706           0 :           ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+     707             :         }
+     708             : 
+     709           0 :         reference_out.header.frame_id = land_there_reference_.header.frame_id;
+     710           0 :         reference_out.header.stamp    = ros::Time::now();
+     711           0 :         reference_out.reference       = land_there_reference_.reference;
+     712             :       }
+     713             : 
+     714           0 :       emergencyReferenceSrv(reference_out);
+     715             :     }
+     716             : 
+     717         177 :   } else if (current_state_landing_ == LANDING_STATE) {
+     718             : 
+     719             :     // we should not attempt to finish the landing if some other tracked was activated
+     720         177 :     if (_landing_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+     721             : 
+     722         177 :       if (desired_throttle) {
+     723             : 
+     724             :         // recalculate the mass based on the throttle
+     725         177 :         throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(_throttle_model_, desired_throttle.value()) / _g_;
+     726         177 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+     727             : 
+     728             :         // condition for automatic motor turn off
+     729         177 :         if (((throttle_mass_estimate_ < _landing_cutoff_mass_factor_ * landing_uav_mass_) || desired_throttle < 0.01)) {
+     730             : 
+     731          44 :           if (!throttle_under_threshold_) {
+     732             : 
+     733           2 :             throttle_mass_estimate_first_time_ = ros::Time::now();
+     734           2 :             throttle_under_threshold_          = true;
+     735             :           }
+     736             : 
+     737          44 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+     738             : 
+     739             :         } else {
+     740             : 
+     741         133 :           throttle_under_threshold_ = false;
+     742             :         }
+     743             : 
+     744         177 :         if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _landing_cutoff_mass_timeout_)) {
+     745             : 
+     746           2 :           switchTrackerSrv(_null_tracker_name_);
+     747             : 
+     748           2 :           setControlCallbacksSrv(true);
+     749             : 
+     750           2 :           if (_landing_disarm_) {
+     751             : 
+     752           2 :             ROS_INFO("[UavManager]: disarming after landing");
+     753             : 
+     754           2 :             disarmSrv();
+     755             :           }
+     756             : 
+     757           2 :           changeLandingState(IDLE_STATE);
+     758             : 
+     759           2 :           ROS_INFO("[UavManager]: landing finished");
+     760             : 
+     761           2 :           timer_landing_.stop();
+     762             :         }
+     763             : 
+     764             :       } else {
+     765             : 
+     766           0 :         auto odometry = sh_odometry_.getMsg();
+     767             : 
+     768           0 :         double z_vel = odometry->twist.twist.linear.z;
+     769             : 
+     770           0 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: z-velocity: %.2f", z_vel);
+     771             : 
+     772             :         // condition for automatic motor turn off
+     773           0 :         if (z_vel > -0.1) {
+     774             : 
+     775           0 :           if (!velocity_under_threshold_) {
+     776             : 
+     777           0 :             velocity_under_threshold_first_time_ = ros::Time::now();
+     778           0 :             velocity_under_threshold_            = true;
+     779             :           }
+     780             : 
+     781           0 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: velocity over threshold for %.2f s", (ros::Time::now() - velocity_under_threshold_first_time_).toSec());
+     782             : 
+     783             :         } else {
+     784             : 
+     785           0 :           velocity_under_threshold_ = false;
+     786             :         }
+     787             : 
+     788           0 :         if (velocity_under_threshold_ && ((ros::Time::now() - velocity_under_threshold_first_time_).toSec() > 3.0)) {
+     789             : 
+     790           0 :           switchTrackerSrv(_null_tracker_name_);
+     791             : 
+     792           0 :           setControlCallbacksSrv(true);
+     793             : 
+     794           0 :           if (_landing_disarm_) {
+     795             : 
+     796           0 :             ROS_INFO("[UavManager]: disarming after landing");
+     797             : 
+     798           0 :             disarmSrv();
+     799             :           }
+     800             : 
+     801           0 :           changeLandingState(IDLE_STATE);
+     802             : 
+     803           0 :           ROS_INFO("[UavManager]: landing finished");
+     804             : 
+     805           0 :           timer_landing_.stop();
+     806             :         }
+     807             :       }
+     808             : 
+     809             :     } else {
+     810             : 
+     811           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: incorrect tracker detected during landing!");
+     812             :     }
+     813             :   }
+     814             : }
+     815             : 
+     816             : //}
+     817             : 
+     818             : /* //{ timerTakeoff() */
+     819             : 
+     820         238 : void UavManager::timerTakeoff(const ros::TimerEvent& event) {
+     821             : 
+     822         238 :   if (!is_initialized_)
+     823           1 :     return;
+     824             : 
+     825         476 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerTakeoff", _takeoff_timer_rate_, 0.1, event);
+     826         476 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerTakeoff", scope_timer_logger_, scope_timer_enabled_);
+     827             : 
+     828         238 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     829             : 
+     830         238 :   if (waiting_for_takeoff_) {
+     831             : 
+     832           6 :     if (control_manager_diagnostics->active_tracker == _takeoff_tracker_name_ && control_manager_diagnostics->tracker_status.have_goal) {
+     833             : 
+     834           5 :       waiting_for_takeoff_ = false;
+     835             :     } else {
+     836             : 
+     837           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: waiting for takeoff confirmation from the ControlManager");
+     838           1 :       return;
+     839             :     }
+     840             :   }
+     841             : 
+     842         237 :   if (takingoff_) {
+     843             : 
+     844         237 :     if (control_manager_diagnostics->active_tracker != _takeoff_tracker_name_ || !control_manager_diagnostics->tracker_status.have_goal) {
+     845             : 
+     846           5 :       ROS_INFO("[UavManager]: take off finished, switching to %s", _after_takeoff_tracker_name_.c_str());
+     847             : 
+     848           5 :       switchTrackerSrv(_after_takeoff_tracker_name_);
+     849             : 
+     850           5 :       switchControllerSrv(_after_takeoff_controller_name_);
+     851             : 
+     852           5 :       setOdometryCallbacksSrv(true);
+     853             : 
+     854           5 :       if (_after_takeoff_pirouette_) {
+     855             : 
+     856           0 :         pirouetteSrv();
+     857             :       }
+     858             : 
+     859           5 :       timer_takeoff_.stop();
+     860             :     }
+     861             :   }
+     862             : }
+     863             : 
+     864             : //}
+     865             : 
+     866             : /* //{ timerMaxHeight() */
+     867             : 
+     868        6665 : void UavManager::timerMaxHeight(const ros::TimerEvent& event) {
+     869             : 
+     870        6665 :   if (!is_initialized_)
+     871        4139 :     return;
+     872             : 
+     873       13330 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxHeight", _max_height_checking_rate_, 0.1, event);
+     874       13330 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxHeight", scope_timer_logger_, scope_timer_enabled_);
+     875             : 
+     876        6665 :   if (!sh_max_height_.hasMsg() || !sh_height_.hasMsg() || !sh_odometry_.hasMsg()) {
+     877        2670 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: maxHeightTimer() not spinning, missing data");
+     878        2670 :     return;
+     879             :   }
+     880             : 
+     881        3995 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     882             : 
+     883        3995 :   if (!control_manager_diag->flying_normally) {
+     884        1469 :     return;
+     885             :   }
+     886             : 
+     887        2526 :   auto   odometry = sh_odometry_.getMsg();
+     888        2526 :   double height   = sh_height_.getMsg()->value;
+     889             : 
+     890             :   // transform max z to the height frame
+     891        2526 :   geometry_msgs::PointStamped point;
+     892        2526 :   point.header  = sh_max_height_.getMsg()->header;
+     893        2526 :   point.point.z = sh_max_height_.getMsg()->value;
+     894             : 
+     895        2526 :   auto res = transformer_->transformSingle(point, sh_height_.getMsg()->header.frame_id);
+     896             : 
+     897             :   double max_z_in_height;
+     898             : 
+     899        2526 :   if (res) {
+     900        2526 :     max_z_in_height = res->point.z;
+     901             :   } else {
+     902           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: timerMaxHeight() not working, cannot transform max z to the height frame");
+     903           0 :     return;
+     904             :   }
+     905             : 
+     906        2526 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     907             : 
+     908        2526 :   double odometry_heading = 0;
+     909             :   try {
+     910        2526 :     odometry_heading = mrs_lib::getHeading(odometry);
+     911             :   }
+     912           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     913           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     914           0 :     return;
+     915             :   }
+     916             : 
+     917        2526 :   if (height > max_z_in_height) {
+     918             : 
+     919           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: max height exceeded: %.2f >  %.2f, triggering safety goto", height, max_z_in_height);
+     920             : 
+     921           0 :     mrs_msgs::ReferenceStamped reference_out;
+     922           0 :     reference_out.header.frame_id = odometry->header.frame_id;
+     923           0 :     reference_out.header.stamp    = ros::Time::now();
+     924             : 
+     925           0 :     reference_out.reference.position.x = odometry_x;
+     926           0 :     reference_out.reference.position.y = odometry_y;
+     927           0 :     reference_out.reference.position.z = odometry_z + ((max_z_in_height - _max_height_offset_) - height);
+     928             : 
+     929           0 :     reference_out.reference.heading = odometry_heading;
+     930             : 
+     931           0 :     setControlCallbacksSrv(false);
+     932             : 
+     933           0 :     bool success = emergencyReferenceSrv(reference_out);
+     934             : 
+     935           0 :     if (success) {
+     936             : 
+     937           0 :       ROS_INFO("[UavManager]: descending");
+     938             : 
+     939           0 :       fixing_max_height_ = true;
+     940             : 
+     941             :     } else {
+     942             : 
+     943           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not descend");
+     944             : 
+     945           0 :       setControlCallbacksSrv(true);
+     946             :     }
+     947             :   }
+     948             : 
+     949        2526 :   if (fixing_max_height_ && height < max_z_in_height) {
+     950             : 
+     951           0 :     setControlCallbacksSrv(true);
+     952             : 
+     953           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+     954             : 
+     955           0 :     fixing_max_height_ = false;
+     956             :   }
+     957             : }
+     958             : 
+     959             : //}
+     960             : 
+     961             : /* //{ timerMinHeight() */
+     962             : 
+     963        6665 : void UavManager::timerMinHeight(const ros::TimerEvent& event) {
+     964             : 
+     965        6665 :   if (!is_initialized_)
+     966        4139 :     return;
+     967             : 
+     968        6665 :   ROS_INFO_ONCE("[UavManager]: min height timer spinning");
+     969             : 
+     970       13330 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMinHeight", _min_height_checking_rate_, 0.1, event);
+     971       13330 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMinHeight", scope_timer_logger_, scope_timer_enabled_);
+     972             : 
+     973        6665 :   if (!sh_odometry_.hasMsg() || !sh_height_.hasMsg() || !sh_control_manager_diag_.hasMsg()) {
+     974        2663 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: minHeightTimer() not spinning, missing data");
+     975        2663 :     return;
+     976             :   }
+     977             : 
+     978        4002 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     979             : 
+     980        4002 :   if (!control_manager_diag->flying_normally) {
+     981        1476 :     return;
+     982             :   }
+     983             : 
+     984        2526 :   auto   odometry = sh_odometry_.getMsg();
+     985        2526 :   double height   = sh_height_.getMsg()->value;
+     986             : 
+     987        2526 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     988             : 
+     989        2526 :   double odometry_heading = 0;
+     990             :   try {
+     991        2526 :     odometry_heading = mrs_lib::getHeading(odometry);
+     992             :   }
+     993           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     994           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     995           0 :     return;
+     996             :   }
+     997             : 
+     998        2526 :   if (height < _min_height_) {
+     999             : 
+    1000           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: min height breached: %.2f < %.2f, triggering safety goto", height, _min_height_);
+    1001             : 
+    1002           0 :     mrs_msgs::ReferenceStamped reference_out;
+    1003           0 :     reference_out.header.frame_id = odometry->header.frame_id;
+    1004           0 :     reference_out.header.stamp    = ros::Time::now();
+    1005             : 
+    1006           0 :     reference_out.reference.position.x = odometry_x;
+    1007           0 :     reference_out.reference.position.y = odometry_y;
+    1008           0 :     reference_out.reference.position.z = odometry_z + ((_min_height_ + _min_height_offset_) - height);
+    1009             : 
+    1010           0 :     reference_out.reference.heading = odometry_heading;
+    1011             : 
+    1012           0 :     setControlCallbacksSrv(false);
+    1013             : 
+    1014           0 :     bool success = emergencyReferenceSrv(reference_out);
+    1015             : 
+    1016           0 :     if (success) {
+    1017             : 
+    1018           0 :       ROS_INFO("[UavManager]: ascending");
+    1019             : 
+    1020           0 :       fixing_min_height_ = true;
+    1021             : 
+    1022             :     } else {
+    1023             : 
+    1024           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not ascend");
+    1025             : 
+    1026           0 :       setControlCallbacksSrv(true);
+    1027             :     }
+    1028             :   }
+    1029             : 
+    1030        2526 :   if (fixing_min_height_ && height > _min_height_) {
+    1031             : 
+    1032           0 :     setControlCallbacksSrv(true);
+    1033             : 
+    1034           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+    1035             : 
+    1036           0 :     fixing_min_height_ = false;
+    1037             :   }
+    1038             : }
+    1039             : 
+    1040             : //}
+    1041             : 
+    1042             : /* //{ timerFlightTime() */
+    1043             : 
+    1044          31 : void UavManager::timerFlightTime(const ros::TimerEvent& event) {
+    1045             : 
+    1046          31 :   if (!is_initialized_)
+    1047           0 :     return;
+    1048             : 
+    1049          93 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFlightTime", _flighttime_timer_rate_, 0.1, event);
+    1050          93 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerFlightTime", scope_timer_logger_, scope_timer_enabled_);
+    1051             : 
+    1052          31 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1053             : 
+    1054          31 :   flighttime += 1.0 / _flighttime_timer_rate_;
+    1055             : 
+    1056          31 :   mrs_msgs::Float64 flight_time;
+    1057          31 :   flight_time.value = flighttime;
+    1058             : 
+    1059             :   // if enabled, start the timer for measuring the flight time
+    1060          31 :   if (_flighttime_timer_enabled_) {
+    1061             : 
+    1062           0 :     if (flighttime > _flighttime_max_time_) {
+    1063             : 
+    1064           0 :       flighttime = 0;
+    1065           0 :       timer_flighttime_.stop();
+    1066             : 
+    1067           0 :       ROS_INFO("[UavManager]: max flight time reached, landing");
+    1068             : 
+    1069           0 :       landImpl();
+    1070             :     }
+    1071             :   }
+    1072             : 
+    1073          31 :   mrs_lib::set_mutexed(mutex_flighttime_, flighttime, flighttime_);
+    1074             : }
+    1075             : 
+    1076             : //}
+    1077             : 
+    1078             : /* //{ timerMaxthrottle() */
+    1079             : 
+    1080       14544 : void UavManager::timerMaxthrottle(const ros::TimerEvent& event) {
+    1081             : 
+    1082       14544 :   if (!is_initialized_)
+    1083        4846 :     return;
+    1084             : 
+    1085       14544 :   if (!sh_throttle_.hasMsg() || (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() > 1.0) {
+    1086        4846 :     return;
+    1087             :   }
+    1088             : 
+    1089        9698 :   ROS_INFO_ONCE("[UavManager]: max throttle timer spinning");
+    1090             : 
+    1091       29094 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxthrottle", _maxthrottle_timer_rate_, 0.03, event);
+    1092       29094 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxthrottle", scope_timer_logger_, scope_timer_enabled_);
+    1093             : 
+    1094        9698 :   auto desired_throttle = sh_throttle_.getMsg()->data;
+    1095             : 
+    1096        9698 :   if (desired_throttle >= _maxthrottle_max_throttle_) {
+    1097             : 
+    1098           0 :     if (!maxthrottle_above_threshold_) {
+    1099             : 
+    1100           0 :       maxthrottle_first_time_      = ros::Time::now();
+    1101           0 :       maxthrottle_above_threshold_ = true;
+    1102           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: max throttle exceeded threshold (%.2f/%.2f)", desired_throttle, _maxthrottle_max_throttle_);
+    1103             : 
+    1104             :     } else {
+    1105             : 
+    1106           0 :       ROS_WARN_THROTTLE(0.1, "[UavManager]: throttle over threshold (%.2f/%.2f) for %.2f s", desired_throttle, _maxthrottle_max_throttle_,
+    1107             :                         (ros::Time::now() - maxthrottle_first_time_).toSec());
+    1108             :     }
+    1109             : 
+    1110             :   } else {
+    1111             : 
+    1112        9698 :     maxthrottle_above_threshold_ = false;
+    1113             :   }
+    1114             : 
+    1115        9698 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_ungrip_timeout_) {
+    1116             : 
+    1117           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, ungripping payload", desired_throttle,
+    1118             :                       _maxthrottle_max_throttle_, _maxthrottle_ungrip_timeout_);
+    1119             : 
+    1120           0 :     ungripSrv();
+    1121             :   }
+    1122             : 
+    1123        9698 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_eland_timeout_) {
+    1124             : 
+    1125           0 :     timer_maxthrottle_.stop();
+    1126             : 
+    1127           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, calling for emergency landing", desired_throttle,
+    1128             :                        _maxthrottle_max_throttle_, _maxthrottle_eland_timeout_);
+    1129             : 
+    1130           0 :     elandSrv();
+    1131             :   }
+    1132             : }
+    1133             : 
+    1134             : //}
+    1135             : 
+    1136             : /* //{ timerDiagnostics() */
+    1137             : 
+    1138         644 : void UavManager::timerDiagnostics(const ros::TimerEvent& event) {
+    1139             : 
+    1140         644 :   if (!is_initialized_)
+    1141           0 :     return;
+    1142             : 
+    1143        1932 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _maxthrottle_timer_rate_, 0.03, event);
+    1144        1932 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    1145             : 
+    1146         644 :   bool got_gps_est = false;
+    1147         644 :   bool got_rtk_est = false;
+    1148             : 
+    1149         644 :   if (sh_estimation_diagnostics_.hasMsg()) {  // get current position in lat-lon
+    1150             : 
+    1151         958 :     auto                     estimation_diag  = sh_estimation_diagnostics_.getMsg();
+    1152         479 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    1153             : 
+    1154         948 :     got_gps_est = std::find(state_estimators.begin(), state_estimators.end(), "gps_garmin") != state_estimators.end() ||
+    1155         469 :                   std::find(state_estimators.begin(), state_estimators.end(), "gps_baro") != state_estimators.end();
+    1156         479 :     got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    1157             :   }
+    1158             : 
+    1159        1288 :   mrs_msgs::UavManagerDiagnostics diag;
+    1160             : 
+    1161         644 :   diag.stamp    = ros::Time::now();
+    1162         644 :   diag.uav_name = _uav_name_;
+    1163             : 
+    1164         644 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1165             : 
+    1166             :   // fill in the acumulated flight time
+    1167         644 :   diag.flight_time = flighttime;
+    1168             : 
+    1169         644 :   if (sh_odometry_.hasMsg()) {  // get current position in lat-lon
+    1170             : 
+    1171         485 :     if (got_gps_est || got_rtk_est) {
+    1172             : 
+    1173         878 :       nav_msgs::Odometry odom = *sh_odometry_.getMsg();
+    1174             : 
+    1175         878 :       geometry_msgs::PoseStamped uav_pose;
+    1176         439 :       uav_pose.pose = mrs_lib::getPose(odom);
+    1177             : 
+    1178        1317 :       auto res = transformer_->transformSingle(uav_pose, "latlon_origin");
+    1179             : 
+    1180         439 :       if (res) {
+    1181         439 :         diag.cur_latitude  = res.value().pose.position.x;
+    1182         439 :         diag.cur_longitude = res.value().pose.position.y;
+    1183             :       }
+    1184             :     }
+    1185             :   }
+    1186             : 
+    1187         644 :   if (takeoff_successful_) {
+    1188             : 
+    1189          42 :     if (got_gps_est || got_rtk_est) {
+    1190             : 
+    1191          84 :       auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+    1192             : 
+    1193         126 :       auto res = transformer_->transformSingle(land_there_reference, "latlon_origin");
+    1194             : 
+    1195          42 :       if (res) {
+    1196          42 :         diag.home_latitude  = res.value().reference.position.x;
+    1197          42 :         diag.home_longitude = res.value().reference.position.y;
+    1198             :       }
+    1199             :     }
+    1200             :   }
+    1201             : 
+    1202         644 :   ph_diag_.publish(diag);
+    1203             : }
+    1204             : 
+    1205             : //}
+    1206             : 
+    1207             : /* //{ timerMidairActivation() */
+    1208             : 
+    1209          42 : void UavManager::timerMidairActivation([[maybe_unused]] const ros::TimerEvent& event) {
+    1210             : 
+    1211          42 :   if (!is_initialized_)
+    1212           0 :     return;
+    1213             : 
+    1214          42 :   ROS_INFO_THROTTLE(0.1, "[UavManager]: waiting for OFFBOARD");
+    1215             : 
+    1216          42 :   if (sh_hw_api_status_.getMsg()->offboard) {
+    1217             : 
+    1218          42 :     ROS_INFO("[UavManager]: OFFBOARD detected");
+    1219             : 
+    1220          42 :     setOdometryCallbacksSrv(true);
+    1221             : 
+    1222             :     {
+    1223          42 :       bool controller_switched = switchControllerSrv(_midair_activation_after_controller_);
+    1224             : 
+    1225          42 :       if (!controller_switched) {
+    1226             : 
+    1227           0 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_controller_.c_str());
+    1228             : 
+    1229           0 :         ehoverSrv();
+    1230             : 
+    1231           0 :         timer_midair_activation_.stop();
+    1232             : 
+    1233           0 :         return;
+    1234             :       }
+    1235             :     }
+    1236             : 
+    1237             :     {
+    1238          42 :       bool tracker_switched = switchTrackerSrv(_midair_activation_after_tracker_);
+    1239             : 
+    1240          42 :       if (!tracker_switched) {
+    1241             : 
+    1242           0 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_tracker_.c_str());
+    1243             : 
+    1244           0 :         ehoverSrv();
+    1245             : 
+    1246           0 :         timer_midair_activation_.stop();
+    1247             : 
+    1248           0 :         return;
+    1249             :       }
+    1250             :     }
+    1251             : 
+    1252          42 :     timer_midair_activation_.stop();
+    1253             : 
+    1254          42 :     return;
+    1255             :   }
+    1256             : 
+    1257           0 :   if ((ros::Time::now() - midair_activation_started_).toSec() > 0.5) {
+    1258             : 
+    1259           0 :     ROS_ERROR("[UavManager]: waiting for OFFBOARD timeouted, reverting");
+    1260             : 
+    1261           0 :     toggleControlOutput(false);
+    1262             : 
+    1263           0 :     timer_midair_activation_.stop();
+    1264             : 
+    1265           0 :     return;
+    1266             :   }
+    1267             : }
+    1268             : 
+    1269             : //}
+    1270             : 
+    1271             : // --------------------------------------------------------------
+    1272             : // |                          callbacks                         |
+    1273             : // --------------------------------------------------------------
+    1274             : 
+    1275             : // | --------------------- topic callbacks -------------------- |
+    1276             : 
+    1277             : /* //{ callbackHwApiGNSS() */
+    1278             : 
+    1279       32480 : void UavManager::callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    1280             : 
+    1281       32480 :   if (!is_initialized_)
+    1282          20 :     return;
+    1283             : 
+    1284       97380 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiGNSS");
+    1285       97380 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::callbackHwApiGNSS", scope_timer_logger_, scope_timer_enabled_);
+    1286             : 
+    1287       32460 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    1288             : }
+    1289             : 
+    1290             : //}
+    1291             : 
+    1292             : /* //{ callbackOdometry() */
+    1293             : 
+    1294       46753 : void UavManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    1295             : 
+    1296       46753 :   if (!is_initialized_)
+    1297           0 :     return;
+    1298             : 
+    1299       46753 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    1300             : }
+    1301             : 
+    1302             : //}
+    1303             : 
+    1304             : // | -------------------- service callbacks ------------------- |
+    1305             : 
+    1306             : /* //{ callbackTakeoff() */
+    1307             : 
+    1308           5 : bool UavManager::callbackTakeoff([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1309             : 
+    1310           5 :   if (!is_initialized_)
+    1311           0 :     return false;
+    1312             : 
+    1313           5 :   ROS_INFO("[UavManager]: takeoff called by service");
+    1314             : 
+    1315             :   /* preconditions //{ */
+    1316             : 
+    1317             :   {
+    1318           5 :     std::stringstream ss;
+    1319             : 
+    1320           5 :     if (!sh_odometry_.hasMsg()) {
+    1321           0 :       ss << "can not takeoff, missing odometry!";
+    1322           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1323           0 :       res.message = ss.str();
+    1324           0 :       res.success = false;
+    1325           0 :       return true;
+    1326             :     }
+    1327             : 
+    1328           5 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1329           0 :       ss << "can not takeoff, missing HW API status!";
+    1330           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1331           0 :       res.message = ss.str();
+    1332           0 :       res.success = false;
+    1333           0 :       return true;
+    1334             :     }
+    1335             : 
+    1336           5 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1337           0 :       ss << "can not takeoff, UAV not armed!";
+    1338           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1339           0 :       res.message = ss.str();
+    1340           0 :       res.success = false;
+    1341           0 :       return true;
+    1342             :     }
+    1343             : 
+    1344           5 :     if (!sh_hw_api_status_.getMsg()->offboard) {
+    1345           0 :       ss << "can not takeoff, UAV not in offboard mode!";
+    1346           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1347           0 :       res.message = ss.str();
+    1348           0 :       res.success = false;
+    1349           0 :       return true;
+    1350             :     }
+    1351             : 
+    1352             :     {
+    1353           5 :       if (!sh_control_manager_diag_.hasMsg() && (ros::Time::now() - sh_control_manager_diag_.lastMsgTime()).toSec() > 5.0) {
+    1354           0 :         ss << "can not takeoff, missing control manager diagnostics!";
+    1355           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1356           0 :         res.message = ss.str();
+    1357           0 :         res.success = false;
+    1358           0 :         return true;
+    1359             :       }
+    1360             : 
+    1361           5 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1362           0 :         ss << "can not takeoff, need '" << _null_tracker_name_ << "' to be active!";
+    1363           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1364           0 :         res.message = ss.str();
+    1365           0 :         res.success = false;
+    1366           0 :         return true;
+    1367             :       }
+    1368             :     }
+    1369             : 
+    1370           5 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1371           0 :       ss << "can not takeoff, missing controller diagnostics!";
+    1372           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1373           0 :       res.message = ss.str();
+    1374           0 :       res.success = false;
+    1375           0 :       return true;
+    1376             :     }
+    1377             : 
+    1378           5 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1379           0 :       ss << "can not takeoff, GainManager is not running!";
+    1380           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1381           0 :       res.message = ss.str();
+    1382           0 :       res.success = false;
+    1383           0 :       return true;
+    1384             :     }
+    1385             : 
+    1386           5 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1387           0 :       ss << "can not takeoff, ConstraintManager is not running!";
+    1388           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1389           0 :       res.message = ss.str();
+    1390           0 :       res.success = false;
+    1391           0 :       return true;
+    1392             :     }
+    1393             : 
+    1394           5 :     if (!sh_control_manager_diag_.getMsg()->output_enabled) {
+    1395             : 
+    1396           0 :       ss << "can not takeoff, Control Manager's output is disabled!";
+    1397           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1398           0 :       res.message = ss.str();
+    1399           0 :       res.success = false;
+    1400           0 :       return true;
+    1401             :     }
+    1402             : 
+    1403           5 :     if (number_of_takeoffs_ > 0) {
+    1404             : 
+    1405           0 :       auto last_mass_difference = mrs_lib::get_mutexed(mutex_last_mass_difference_, last_mass_difference_);
+    1406             : 
+    1407           0 :       if (last_mass_difference > 1.0) {
+    1408             : 
+    1409           0 :         ss << std::setprecision(2);
+    1410           0 :         ss << "can not takeoff, estimated mass difference is too large: " << _null_tracker_name_ << "!";
+    1411           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1412           0 :         res.message = ss.str();
+    1413           0 :         res.success = false;
+    1414           0 :         return true;
+    1415             :       }
+    1416             :     }
+    1417             :   }
+    1418             : 
+    1419             :   //}
+    1420             : 
+    1421          10 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+    1422          10 :   auto odometry                    = sh_odometry_.getMsg();
+    1423           5 :   auto [odom_x, odom_y, odom_z]    = mrs_lib::getPosition(sh_odometry_.getMsg());
+    1424             : 
+    1425             :   double odom_heading;
+    1426             :   try {
+    1427           5 :     odom_heading = mrs_lib::getHeading(sh_odometry_.getMsg());
+    1428             :   }
+    1429           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1430           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1431             : 
+    1432           0 :     std::stringstream ss;
+    1433           0 :     ss << "could not calculate current heading";
+    1434           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1435           0 :     res.message = ss.str();
+    1436           0 :     res.success = false;
+    1437           0 :     return true;
+    1438             :   }
+    1439             : 
+    1440           5 :   ROS_INFO("[UavManager]: taking off");
+    1441             : 
+    1442           5 :   setOdometryCallbacksSrv(false);
+    1443             : 
+    1444             :   // activating the takeoff controller
+    1445             :   {
+    1446           5 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    1447           5 :     bool        controller_switched = switchControllerSrv(_takeoff_controller_name_);
+    1448             : 
+    1449             :     // if it fails, activate back the old controller
+    1450             :     // this is no big deal since the control outputs are not used
+    1451             :     // until NullTracker is active
+    1452           5 :     if (!controller_switched) {
+    1453             : 
+    1454           0 :       std::stringstream ss;
+    1455           0 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for takeoff";
+    1456           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1457           0 :       res.success = false;
+    1458           0 :       res.message = ss.str();
+    1459             : 
+    1460           0 :       switchControllerSrv(old_controller);
+    1461             : 
+    1462           0 :       return true;
+    1463             :     }
+    1464             :   }
+    1465             : 
+    1466             :   // activate the takeoff tracker
+    1467             :   {
+    1468           5 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    1469           5 :     bool        tracker_switched = switchTrackerSrv(_takeoff_tracker_name_);
+    1470             : 
+    1471             :     // if it fails, activate back the old tracker
+    1472           5 :     if (!tracker_switched) {
+    1473             : 
+    1474           0 :       std::stringstream ss;
+    1475           0 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for takeoff";
+    1476           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1477           0 :       res.success = false;
+    1478           0 :       res.message = ss.str();
+    1479             : 
+    1480           0 :       switchTrackerSrv(old_tracker);
+    1481             : 
+    1482           0 :       return true;
+    1483             :     }
+    1484             :   }
+    1485             : 
+    1486             :   // let's sleep before calling take off.. the motors are rumping-up anyway
+    1487             :   // this solves on-time-happening race condition in the landoff tracker
+    1488           5 :   ros::Duration(0.3).sleep();
+    1489             : 
+    1490             :   // now the takeoff tracker and controller are active
+    1491             :   // the UAV is basically hovering on the ground
+    1492             :   // (the controller is probably rumping up the throttle now)
+    1493             : 
+    1494             :   // call the takeoff service at the takeoff tracker
+    1495             :   {
+    1496           5 :     bool takeoff_successful = takeoffSrv();
+    1497             : 
+    1498             :     // if the takeoff was not successful, switch to NullTracker
+    1499           5 :     if (takeoff_successful) {
+    1500             : 
+    1501             :       // save the current spot for later landing
+    1502             :       {
+    1503           5 :         std::scoped_lock lock(mutex_land_there_reference_);
+    1504             : 
+    1505           5 :         land_there_reference_.header               = odometry->header;
+    1506           5 :         land_there_reference_.reference.position.x = odom_x;
+    1507           5 :         land_there_reference_.reference.position.y = odom_y;
+    1508           5 :         land_there_reference_.reference.position.z = odom_z;
+    1509           5 :         land_there_reference_.reference.heading    = odom_heading;
+    1510             :       }
+    1511             : 
+    1512           5 :       timer_flighttime_.start();
+    1513             : 
+    1514          10 :       std::stringstream ss;
+    1515           5 :       ss << "taking off";
+    1516           5 :       res.success = true;
+    1517           5 :       res.message = ss.str();
+    1518           5 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1519             : 
+    1520           5 :       takingoff_ = true;
+    1521           5 :       number_of_takeoffs_++;
+    1522           5 :       waiting_for_takeoff_ = true;
+    1523             : 
+    1524             :       // start the takeoff timer
+    1525           5 :       timer_takeoff_.start();
+    1526             : 
+    1527           5 :       takeoff_successful_ = takeoff_successful;
+    1528             : 
+    1529             :     } else {
+    1530             : 
+    1531           0 :       std::stringstream ss;
+    1532           0 :       ss << "takeoff was not successful";
+    1533           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1534           0 :       res.success = false;
+    1535           0 :       res.message = ss.str();
+    1536             : 
+    1537             :       // if the call for takeoff fails, call for emergency landing
+    1538           0 :       elandSrv();
+    1539             :     }
+    1540             :   }
+    1541             : 
+    1542           5 :   return true;
+    1543             : }
+    1544             : 
+    1545             : //}
+    1546             : 
+    1547             : /* //{ callbackLand() */
+    1548             : 
+    1549           2 : bool UavManager::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1550             : 
+    1551           2 :   if (!is_initialized_)
+    1552           0 :     return false;
+    1553             : 
+    1554           2 :   ROS_INFO("[UavManager]: land called by service");
+    1555             : 
+    1556             :   /* preconditions //{ */
+    1557             : 
+    1558             :   {
+    1559           2 :     std::stringstream ss;
+    1560             : 
+    1561           2 :     if (!sh_odometry_.hasMsg()) {
+    1562           0 :       ss << "can not land, missing odometry!";
+    1563           0 :       res.message = ss.str();
+    1564           0 :       res.success = false;
+    1565           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1566           0 :       return true;
+    1567             :     }
+    1568             : 
+    1569             :     {
+    1570           2 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1571           0 :         ss << "can not land, missing control manager diagnostics!";
+    1572           0 :         res.message = ss.str();
+    1573           0 :         res.success = false;
+    1574           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1575           0 :         return true;
+    1576             :       }
+    1577             : 
+    1578           2 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1579           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1580           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1581           0 :         res.message = ss.str();
+    1582           0 :         res.success = false;
+    1583           0 :         return true;
+    1584             :       }
+    1585             :     }
+    1586             : 
+    1587           2 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1588           0 :       ss << "can not land, missing controller diagnostics!";
+    1589           0 :       res.message = ss.str();
+    1590           0 :       res.success = false;
+    1591           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1592           0 :       return true;
+    1593             :     }
+    1594             : 
+    1595           2 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1596           0 :       ss << "can not land, missing position cmd!";
+    1597           0 :       res.message = ss.str();
+    1598           0 :       res.success = false;
+    1599           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1600           0 :       return true;
+    1601             :     }
+    1602             :   }
+    1603             : 
+    1604             :   //}
+    1605             : 
+    1606           2 :   auto [success, message] = landWithDescendImpl();
+    1607             : 
+    1608           2 :   res.message = message;
+    1609           2 :   res.success = success;
+    1610             : 
+    1611           2 :   return true;
+    1612             : }
+    1613             : 
+    1614             : //}
+    1615             : 
+    1616             : /* //{ callbackLandHome() */
+    1617             : 
+    1618           0 : bool UavManager::callbackLandHome([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1619             : 
+    1620           0 :   if (!is_initialized_)
+    1621           0 :     return false;
+    1622             : 
+    1623           0 :   ROS_INFO("[UavManager]: land home called by service");
+    1624             : 
+    1625             :   /* preconditions //{ */
+    1626             : 
+    1627             :   {
+    1628           0 :     std::stringstream ss;
+    1629             : 
+    1630           0 :     if (number_of_takeoffs_ == 0) {
+    1631           0 :       ss << "can not land home, did not takeoff before!";
+    1632           0 :       res.message = ss.str();
+    1633           0 :       res.success = false;
+    1634           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1635           0 :       return true;
+    1636             :     }
+    1637             : 
+    1638           0 :     if (!sh_odometry_.hasMsg()) {
+    1639           0 :       ss << "can not land, missing odometry!";
+    1640           0 :       res.message = ss.str();
+    1641           0 :       res.success = false;
+    1642           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1643           0 :       return true;
+    1644             :     }
+    1645             : 
+    1646             :     {
+    1647           0 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1648           0 :         ss << "can not land, missing tracker status!";
+    1649           0 :         res.message = ss.str();
+    1650           0 :         res.success = false;
+    1651           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1652           0 :         return true;
+    1653             :       }
+    1654             : 
+    1655           0 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1656           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1657           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1658           0 :         res.message = ss.str();
+    1659           0 :         res.success = false;
+    1660           0 :         return true;
+    1661             :       }
+    1662             :     }
+    1663             : 
+    1664           0 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1665           0 :       ss << "can not land, missing controller diagnostics command!";
+    1666           0 :       res.message = ss.str();
+    1667           0 :       res.success = false;
+    1668           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1669           0 :       return true;
+    1670             :     }
+    1671             : 
+    1672           0 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1673           0 :       ss << "can not land, missing position cmd!";
+    1674           0 :       res.message = ss.str();
+    1675           0 :       res.success = false;
+    1676           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1677           0 :       return true;
+    1678             :     }
+    1679             : 
+    1680           0 :     if (fixing_max_height_) {
+    1681           0 :       ss << "can not land, descedning to safe height!";
+    1682           0 :       res.message = ss.str();
+    1683           0 :       res.success = false;
+    1684           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1685           0 :       return true;
+    1686             :     }
+    1687             : 
+    1688           0 :     if (current_state_landing_ != IDLE_STATE) {
+    1689           0 :       ss << "can not land, already landing!";
+    1690           0 :       res.message = ss.str();
+    1691           0 :       res.success = false;
+    1692           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1693           0 :       return true;
+    1694             :     }
+    1695             :   }
+    1696             : 
+    1697             :   //}
+    1698             : 
+    1699           0 :   ungripSrv();
+    1700             : 
+    1701           0 :   mrs_msgs::ReferenceStamped reference_out;
+    1702             : 
+    1703             :   {
+    1704           0 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1705             : 
+    1706             :     // get the current altitude in land_there_reference_.header.frame_id;
+    1707           0 :     geometry_msgs::PoseStamped current_pose;
+    1708           0 :     current_pose.header.stamp     = ros::Time::now();
+    1709           0 :     current_pose.header.frame_id  = _uav_name_ + "/fcu";
+    1710           0 :     current_pose.pose.position.x  = 0;
+    1711           0 :     current_pose.pose.position.y  = 0;
+    1712           0 :     current_pose.pose.position.z  = 0;
+    1713           0 :     current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1714             : 
+    1715           0 :     auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+    1716             : 
+    1717           0 :     if (response) {
+    1718             : 
+    1719           0 :       land_there_reference_.reference.position.z = response.value().pose.position.z;
+    1720           0 :       ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+    1721             : 
+    1722             :     } else {
+    1723             : 
+    1724           0 :       std::stringstream ss;
+    1725           0 :       ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+    1726           0 :       ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1727             : 
+    1728           0 :       res.success = false;
+    1729           0 :       res.message = ss.str();
+    1730           0 :       return true;
+    1731             :     }
+    1732             : 
+    1733           0 :     reference_out.header.frame_id = land_there_reference_.header.frame_id;
+    1734           0 :     reference_out.header.stamp    = ros::Time::now();
+    1735           0 :     reference_out.reference       = land_there_reference_.reference;
+    1736             :   }
+    1737             : 
+    1738           0 :   bool service_success = emergencyReferenceSrv(reference_out);
+    1739             : 
+    1740           0 :   if (service_success) {
+    1741             : 
+    1742           0 :     std::stringstream ss;
+    1743           0 :     ss << "flying home for landing";
+    1744           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1745             : 
+    1746           0 :     res.success = true;
+    1747           0 :     res.message = ss.str();
+    1748             : 
+    1749             :     // stop the eventual takeoff
+    1750           0 :     waiting_for_takeoff_ = false;
+    1751           0 :     takingoff_           = false;
+    1752           0 :     timer_takeoff_.stop();
+    1753             : 
+    1754           0 :     throttle_under_threshold_          = false;
+    1755           0 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1756             : 
+    1757           0 :     changeLandingState(FLY_THERE_STATE);
+    1758             : 
+    1759           0 :     timer_landing_.start();
+    1760             : 
+    1761             :   } else {
+    1762             : 
+    1763           0 :     std::stringstream ss;
+    1764           0 :     ss << "can not fly home for landing";
+    1765           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1766             : 
+    1767           0 :     res.success = false;
+    1768           0 :     res.message = ss.str();
+    1769             :   }
+    1770             : 
+    1771           0 :   return true;
+    1772             : }
+    1773             : 
+    1774             : //}
+    1775             : 
+    1776             : /* //{ callbackLandThere() */
+    1777             : 
+    1778           0 : bool UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    1779             : 
+    1780           0 :   if (!is_initialized_)
+    1781           0 :     return false;
+    1782             : 
+    1783           0 :   ROS_INFO("[UavManager]: land there called by service");
+    1784             : 
+    1785             :   /* preconditions //{ */
+    1786             : 
+    1787             :   {
+    1788           0 :     std::stringstream ss;
+    1789             : 
+    1790           0 :     if (!sh_odometry_.hasMsg()) {
+    1791           0 :       ss << "can not land, missing odometry!";
+    1792           0 :       res.message = ss.str();
+    1793           0 :       res.success = false;
+    1794           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1795           0 :       return true;
+    1796             :     }
+    1797             : 
+    1798             :     {
+    1799           0 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1800           0 :         ss << "can not land, missing tracker status!";
+    1801           0 :         res.message = ss.str();
+    1802           0 :         res.success = false;
+    1803           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1804           0 :         return true;
+    1805             :       }
+    1806             : 
+    1807           0 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1808           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1809           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1810           0 :         res.message = ss.str();
+    1811           0 :         res.success = false;
+    1812           0 :         return true;
+    1813             :       }
+    1814             :     }
+    1815             : 
+    1816           0 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1817           0 :       ss << "can not land, missing controller diagnostics!";
+    1818           0 :       res.message = ss.str();
+    1819           0 :       res.success = false;
+    1820           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1821           0 :       return true;
+    1822             :     }
+    1823             : 
+    1824           0 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1825           0 :       ss << "can not land, missing position cmd!";
+    1826           0 :       res.message = ss.str();
+    1827           0 :       res.success = false;
+    1828           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1829           0 :       return true;
+    1830             :     }
+    1831             : 
+    1832           0 :     if (fixing_max_height_) {
+    1833           0 :       ss << "can not land, descedning to safe height!";
+    1834           0 :       res.message = ss.str();
+    1835           0 :       res.success = false;
+    1836           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1837           0 :       return true;
+    1838             :     }
+    1839             :   }
+    1840             : 
+    1841             :   //}
+    1842             : 
+    1843           0 :   ungripSrv();
+    1844             : 
+    1845           0 :   mrs_msgs::ReferenceStamped reference_out;
+    1846             : 
+    1847             :   {
+    1848           0 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1849             : 
+    1850           0 :     land_there_reference_.header    = req.header;
+    1851           0 :     land_there_reference_.reference = req.reference;
+    1852             : 
+    1853           0 :     reference_out.header.frame_id = land_there_reference_.header.frame_id;
+    1854           0 :     reference_out.header.stamp    = ros::Time::now();
+    1855           0 :     reference_out.reference       = land_there_reference_.reference;
+    1856             :   }
+    1857             : 
+    1858           0 :   bool service_success = emergencyReferenceSrv(reference_out);
+    1859             : 
+    1860           0 :   if (service_success) {
+    1861             : 
+    1862           0 :     std::stringstream ss;
+    1863           0 :     ss << "flying there for landing";
+    1864           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1865             : 
+    1866           0 :     res.success = true;
+    1867           0 :     res.message = ss.str();
+    1868             : 
+    1869             :     // stop the eventual takeoff
+    1870           0 :     waiting_for_takeoff_ = false;
+    1871           0 :     takingoff_           = false;
+    1872           0 :     timer_takeoff_.stop();
+    1873             : 
+    1874           0 :     throttle_under_threshold_          = false;
+    1875           0 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1876             : 
+    1877           0 :     changeLandingState(FLY_THERE_STATE);
+    1878             : 
+    1879           0 :     timer_landing_.start();
+    1880             : 
+    1881             :   } else {
+    1882             : 
+    1883           0 :     std::stringstream ss;
+    1884           0 :     ss << "can not fly there for landing";
+    1885           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1886             : 
+    1887           0 :     res.success = false;
+    1888           0 :     res.message = ss.str();
+    1889             :   }
+    1890             : 
+    1891           0 :   return true;
+    1892             : }
+    1893             : 
+    1894             : //}
+    1895             : 
+    1896             : /* //{ callbackMidairActivation() */
+    1897             : 
+    1898          42 : bool UavManager::callbackMidairActivation([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1899             : 
+    1900          42 :   if (!is_initialized_)
+    1901           0 :     return false;
+    1902             : 
+    1903          42 :   ROS_INFO("[UavManager]: midair activation called by service");
+    1904             : 
+    1905             :   /* preconditions //{ */
+    1906             : 
+    1907             :   {
+    1908          42 :     std::stringstream ss;
+    1909             : 
+    1910          42 :     if (!sh_odometry_.hasMsg()) {
+    1911           0 :       ss << "can not activate, missing odometry!";
+    1912           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1913           0 :       res.message = ss.str();
+    1914           0 :       res.success = false;
+    1915           0 :       return true;
+    1916             :     }
+    1917             : 
+    1918          42 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1919           0 :       ss << "can not activate, missing HW API status!";
+    1920           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1921           0 :       res.message = ss.str();
+    1922           0 :       res.success = false;
+    1923           0 :       return true;
+    1924             :     }
+    1925             : 
+    1926          42 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1927           0 :       ss << "can not activate, UAV not armed!";
+    1928           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1929           0 :       res.message = ss.str();
+    1930           0 :       res.success = false;
+    1931           0 :       return true;
+    1932             :     }
+    1933             : 
+    1934          42 :     if (sh_hw_api_status_.getMsg()->offboard) {
+    1935           0 :       ss << "can not activate, UAV already in offboard mode!";
+    1936           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1937           0 :       res.message = ss.str();
+    1938           0 :       res.success = false;
+    1939           0 :       return true;
+    1940             :     }
+    1941             : 
+    1942             :     {
+    1943          42 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1944           0 :         ss << "can not activate, missing control manager diagnostics!";
+    1945           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1946           0 :         res.message = ss.str();
+    1947           0 :         res.success = false;
+    1948           0 :         return true;
+    1949             :       }
+    1950             : 
+    1951          42 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1952           0 :         ss << "can not activate, need '" << _null_tracker_name_ << "' to be active!";
+    1953           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1954           0 :         res.message = ss.str();
+    1955           0 :         res.success = false;
+    1956           0 :         return true;
+    1957             :       }
+    1958             :     }
+    1959             : 
+    1960          42 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1961           0 :       ss << "can not activate, missing controller diagnostics!";
+    1962           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1963           0 :       res.message = ss.str();
+    1964           0 :       res.success = false;
+    1965           0 :       return true;
+    1966             :     }
+    1967             : 
+    1968          42 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1969           0 :       ss << "can not activate, GainManager is not running!";
+    1970           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1971           0 :       res.message = ss.str();
+    1972           0 :       res.success = false;
+    1973           0 :       return true;
+    1974             :     }
+    1975             : 
+    1976          42 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1977           0 :       ss << "can not activate, ConstraintManager is not running!";
+    1978           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1979           0 :       res.message = ss.str();
+    1980           0 :       res.success = false;
+    1981           0 :       return true;
+    1982             :     }
+    1983             : 
+    1984          42 :     if (number_of_takeoffs_ > 0) {
+    1985           0 :       ss << "can not activate, we flew already!";
+    1986           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1987           0 :       res.message = ss.str();
+    1988           0 :       res.success = false;
+    1989           0 :       return true;
+    1990             :     }
+    1991             :   }
+    1992             : 
+    1993             :   //}
+    1994             : 
+    1995          42 :   auto [success, message] = midairActivationImpl();
+    1996             : 
+    1997          42 :   res.message = message;
+    1998          42 :   res.success = success;
+    1999             : 
+    2000          42 :   return true;
+    2001             : }
+    2002             : 
+    2003             : //}
+    2004             : 
+    2005             : // | ------------------------ routines ------------------------ |
+    2006             : 
+    2007             : /* landImpl() //{ */
+    2008             : 
+    2009           2 : std::tuple<bool, std::string> UavManager::landImpl(void) {
+    2010             : 
+    2011             :   // activating the landing controller
+    2012             :   {
+    2013           2 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    2014           2 :     bool        controller_switched = switchControllerSrv(_landing_controller_name_);
+    2015             : 
+    2016             :     // if it fails, activate eland
+    2017             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2018             :     // just throw out error.
+    2019           2 :     if (!controller_switched) {
+    2020             : 
+    2021           0 :       std::stringstream ss;
+    2022           0 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for landing";
+    2023           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2024             : 
+    2025           0 :       elandSrv();
+    2026             : 
+    2027           0 :       return std::tuple(false, ss.str());
+    2028             :     }
+    2029             :   }
+    2030             : 
+    2031             :   // activate the landing tracker
+    2032             :   {
+    2033           2 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    2034           2 :     bool        tracker_switched = switchTrackerSrv(_landing_tracker_name_);
+    2035             : 
+    2036             :     // if it fails, activate eland
+    2037             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2038             :     // just throw out error.
+    2039           2 :     if (!tracker_switched) {
+    2040             : 
+    2041           0 :       std::stringstream ss;
+    2042           0 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for landing";
+    2043           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2044             : 
+    2045           0 :       elandSrv();
+    2046             : 
+    2047           0 :       return std::tuple(false, ss.str());
+    2048             :     }
+    2049             :   }
+    2050             : 
+    2051             :   // call the landing service
+    2052             :   {
+    2053           2 :     bool land_successful = landSrv();
+    2054             : 
+    2055           2 :     if (land_successful) {
+    2056             : 
+    2057             :       // stop the eventual takeoff
+    2058           2 :       waiting_for_takeoff_ = false;
+    2059           2 :       takingoff_           = false;
+    2060           2 :       timer_takeoff_.stop();
+    2061             : 
+    2062             :       // stop counting the flight time
+    2063           2 :       timer_flighttime_.stop();
+    2064             : 
+    2065           4 :       auto controller_diagnostics = sh_controller_diagnostics_.getMsg();
+    2066             : 
+    2067             :       // remember the last valid mass estimated
+    2068             :       // used during subsequent takeoff
+    2069           2 :       if (controller_diagnostics->mass_estimator) {
+    2070           2 :         last_mass_difference_ = controller_diagnostics->mass_difference;
+    2071             :       }
+    2072             : 
+    2073           2 :       setOdometryCallbacksSrv(false);
+    2074             : 
+    2075           2 :       changeLandingState(LANDING_STATE);
+    2076             : 
+    2077           2 :       throttle_under_threshold_          = false;
+    2078           2 :       throttle_mass_estimate_first_time_ = ros::Time(0);
+    2079             : 
+    2080           2 :       timer_landing_.start();
+    2081             : 
+    2082           2 :       std::stringstream ss;
+    2083           2 :       ss << "landing initiated";
+    2084           2 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2085             : 
+    2086           2 :       return std::tuple(true, ss.str());
+    2087             : 
+    2088             :     } else {
+    2089             : 
+    2090           0 :       std::stringstream ss;
+    2091           0 :       ss << "could not land";
+    2092           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2093             : 
+    2094           0 :       elandSrv();
+    2095             : 
+    2096           0 :       return std::tuple(false, ss.str());
+    2097             :     }
+    2098             :   }
+    2099             : }
+    2100             : 
+    2101             : //}
+    2102             : 
+    2103             : /* landWithDescendImpl() //{ */
+    2104             : 
+    2105           2 : std::tuple<bool, std::string> UavManager::landWithDescendImpl(void) {
+    2106             : 
+    2107             :   // if the height information is available
+    2108           2 :   if (sh_height_.hasMsg()) {
+    2109             : 
+    2110           2 :     double height = sh_height_.getMsg()->value;
+    2111             : 
+    2112           2 :     if (height > 0 && height >= _landing_descend_height_ + 1.0) {
+    2113             : 
+    2114           0 :       auto odometry = sh_odometry_.getMsg();
+    2115             : 
+    2116           0 :       ungripSrv();
+    2117             : 
+    2118             :       {
+    2119           0 :         std::scoped_lock lock(mutex_land_there_reference_);
+    2120             : 
+    2121             :         // FOR FUTURE ME: Do not change this, we need it to be filled for the final check later
+    2122           0 :         land_there_reference_.header.frame_id      = "";
+    2123           0 :         land_there_reference_.header.stamp         = ros::Time::now();
+    2124           0 :         land_there_reference_.reference.position.x = odometry->pose.pose.position.x;
+    2125           0 :         land_there_reference_.reference.position.y = odometry->pose.pose.position.y;
+    2126           0 :         land_there_reference_.reference.position.z = odometry->pose.pose.position.z - (height - _landing_descend_height_);
+    2127           0 :         land_there_reference_.reference.heading    = mrs_lib::AttitudeConverter(odometry->pose.pose.orientation).getHeading();
+    2128             :       }
+    2129             : 
+    2130           0 :       bool service_success = emergencyReferenceSrv(land_there_reference_);
+    2131             : 
+    2132           0 :       if (service_success) {
+    2133             : 
+    2134           0 :         std::stringstream ss;
+    2135           0 :         ss << "flying down for landing";
+    2136           0 :         ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2137             : 
+    2138             :         // stop the eventual takeoff
+    2139           0 :         waiting_for_takeoff_ = false;
+    2140           0 :         takingoff_           = false;
+    2141           0 :         timer_takeoff_.stop();
+    2142             : 
+    2143           0 :         changeLandingState(FLY_THERE_STATE);
+    2144             : 
+    2145           0 :         throttle_under_threshold_          = false;
+    2146           0 :         throttle_mass_estimate_first_time_ = ros::Time(0);
+    2147             : 
+    2148           0 :         timer_landing_.start();
+    2149             : 
+    2150           0 :         return std::tuple(true, ss.str());
+    2151             : 
+    2152             :       } else {
+    2153             : 
+    2154           0 :         std::stringstream ss;
+    2155           0 :         ss << "can not fly down for landing";
+    2156           0 :         ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    2157             :       }
+    2158             :     }
+    2159             :   }
+    2160             : 
+    2161           4 :   auto [success, message] = landImpl();
+    2162             : 
+    2163           2 :   return std::tuple(success, message);
+    2164             : }
+    2165             : 
+    2166             : //}
+    2167             : 
+    2168             : /* midairActivationImpl() //{ */
+    2169             : 
+    2170          42 : std::tuple<bool, std::string> UavManager::midairActivationImpl(void) {
+    2171             : 
+    2172             :   // 1. activate the mid-air activation controller
+    2173             :   // the controller will output hover-like control output
+    2174          84 :   std::string old_controller;
+    2175             :   {
+    2176          42 :     old_controller           = sh_control_manager_diag_.getMsg()->active_controller;
+    2177          42 :     bool controller_switched = switchControllerSrv(_midair_activation_during_controller_);
+    2178             : 
+    2179          42 :     if (!controller_switched) {
+    2180             : 
+    2181           0 :       std::stringstream ss;
+    2182           0 :       ss << "could not activate '" << _midair_activation_during_controller_ << "' for midair activation";
+    2183           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2184             : 
+    2185           0 :       return std::tuple(false, ss.str());
+    2186             :     }
+    2187             :   }
+    2188             : 
+    2189             :   // 2. turn Control Manager's output ON
+    2190             :   {
+    2191          42 :     bool output_enabled = toggleControlOutput(true);
+    2192             : 
+    2193          42 :     if (!output_enabled) {
+    2194             : 
+    2195           0 :       switchControllerSrv(old_controller);
+    2196             : 
+    2197           0 :       std::stringstream ss;
+    2198           0 :       ss << "could not enable Control Manager's output";
+    2199           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2200             : 
+    2201           0 :       return std::tuple(false, ss.str());
+    2202             :     }
+    2203             :   }
+    2204             : 
+    2205             :   // 3. activate the mid-air activation tracker
+    2206             :   // this will cause the Control Manager to output something else than min-throttle
+    2207          84 :   std::string old_tracker;
+    2208             :   {
+    2209          42 :     old_tracker = sh_control_manager_diag_.getMsg()->active_tracker;
+    2210             : 
+    2211          42 :     bool tracker_switched = switchTrackerSrv(_midair_activation_during_tracker_);
+    2212             : 
+    2213          42 :     if (!tracker_switched) {
+    2214             : 
+    2215           0 :       switchControllerSrv(old_controller);
+    2216           0 :       toggleControlOutput(false);
+    2217             : 
+    2218           0 :       std::stringstream ss;
+    2219           0 :       ss << "could not activate '" << _midair_activation_during_tracker_ << "' for midair activation";
+    2220           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2221             : 
+    2222           0 :       return std::tuple(false, ss.str());
+    2223             :     }
+    2224             :   }
+    2225             : 
+    2226             :   // 4. wait for 50 ms, that should be enough for the Pixhawk to start getting data
+    2227          42 :   ros::Duration(0.05).sleep();
+    2228             : 
+    2229             :   // 5. turn on the OFFBOARD MODE
+    2230             :   // since now, the UAV should be under our control
+    2231             :   {
+    2232          42 :     bool offboard_set = offboardSrv(true);
+    2233             : 
+    2234          42 :     if (!offboard_set) {
+    2235             : 
+    2236           0 :       switchTrackerSrv(old_tracker);
+    2237           0 :       switchControllerSrv(old_controller);
+    2238           0 :       toggleControlOutput(false);
+    2239             : 
+    2240           0 :       std::stringstream ss;
+    2241           0 :       ss << "could not activate offboard mode";
+    2242           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2243             : 
+    2244           0 :       return std::tuple(false, ss.str());
+    2245             :     }
+    2246             :   }
+    2247             : 
+    2248             :   // remember this time, later check for timeout
+    2249          42 :   midair_activation_started_ = ros::Time::now();
+    2250             : 
+    2251             :   // start the timer which should check if the offboard is on, activate proper controller and tracker or timeout
+    2252          42 :   timer_midair_activation_.start();
+    2253             : 
+    2254          42 :   std::stringstream ss;
+    2255          42 :   ss << "midair activation initiated, starting the timer";
+    2256          42 :   ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2257             : 
+    2258          42 :   return std::tuple(true, ss.str());
+    2259             : }
+    2260             : 
+    2261             : //}
+    2262             : 
+    2263             : // | ----------------- service client wrappers ---------------- |
+    2264             : 
+    2265             : /* setOdometryCallbacksSrv() //{ */
+    2266             : 
+    2267          54 : void UavManager::setOdometryCallbacksSrv(const bool& input) {
+    2268             : 
+    2269          54 :   ROS_INFO("[UavManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    2270             : 
+    2271         108 :   std_srvs::SetBool srv;
+    2272             : 
+    2273          54 :   srv.request.data = input;
+    2274             : 
+    2275          54 :   bool res = sch_odometry_callbacks_.call(srv);
+    2276             : 
+    2277          54 :   if (res) {
+    2278             : 
+    2279          54 :     if (!srv.response.success) {
+    2280           0 :       ROS_WARN("[UavManager]: service call for toggle odometry callbacks returned: %s.", srv.response.message.c_str());
+    2281             :     }
+    2282             : 
+    2283             :   } else {
+    2284           0 :     ROS_ERROR("[UavManager]: service call for toggle odometry callbacks failed!");
+    2285             :   }
+    2286          54 : }
+    2287             : 
+    2288             : //}
+    2289             : 
+    2290             : /* setControlCallbacksSrv() //{ */
+    2291             : 
+    2292           2 : void UavManager::setControlCallbacksSrv(const bool& input) {
+    2293             : 
+    2294           2 :   ROS_INFO("[UavManager]: switching control callbacks to %s", input ? "ON" : "OFF");
+    2295             : 
+    2296           4 :   std_srvs::SetBool srv;
+    2297             : 
+    2298           2 :   srv.request.data = input;
+    2299             : 
+    2300           2 :   bool res = sch_control_callbacks_.call(srv);
+    2301             : 
+    2302           2 :   if (res) {
+    2303             : 
+    2304           2 :     if (!srv.response.success) {
+    2305           0 :       ROS_WARN("[UavManager]: service call for setting control callbacks returned: %s.", srv.response.message.c_str());
+    2306             :     }
+    2307             : 
+    2308             :   } else {
+    2309           0 :     ROS_ERROR("[UavManager]: service call for setting control callbacks failed!");
+    2310             :   }
+    2311           2 : }
+    2312             : 
+    2313             : //}
+    2314             : 
+    2315             : /* ungripSrv() //{ */
+    2316             : 
+    2317           0 : void UavManager::ungripSrv(void) {
+    2318             : 
+    2319           0 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: ungripping payload");
+    2320             : 
+    2321           0 :   std_srvs::Trigger srv;
+    2322             : 
+    2323           0 :   bool res = sch_ungrip_.call(srv);
+    2324             : 
+    2325           0 :   if (res) {
+    2326             : 
+    2327           0 :     if (!srv.response.success) {
+    2328           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload returned: %s.", srv.response.message.c_str());
+    2329             :     }
+    2330             : 
+    2331             :   } else {
+    2332           0 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload failed!");
+    2333             :   }
+    2334           0 : }
+    2335             : 
+    2336             : //}
+    2337             : 
+    2338             : /* toggleControlOutput() //{ */
+    2339             : 
+    2340          42 : bool UavManager::toggleControlOutput(const bool& input) {
+    2341             : 
+    2342          42 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: toggling control output %s", input ? "ON" : "OFF");
+    2343             : 
+    2344          84 :   std_srvs::SetBool srv;
+    2345             : 
+    2346          42 :   srv.request.data = input;
+    2347             : 
+    2348          42 :   bool res = sch_toggle_control_output_.call(srv);
+    2349             : 
+    2350          42 :   if (res) {
+    2351             : 
+    2352          42 :     if (!srv.response.success) {
+    2353           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output returned: %s.", srv.response.message.c_str());
+    2354           0 :       return false;
+    2355             :     } else {
+    2356          42 :       return true;
+    2357             :     }
+    2358             : 
+    2359             :   } else {
+    2360           0 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output failed!");
+    2361           0 :     return false;
+    2362             :   }
+    2363             : }
+    2364             : 
+    2365             : //}
+    2366             : 
+    2367             : /* offboardSrv() //{ */
+    2368             : 
+    2369          42 : bool UavManager::offboardSrv(const bool in) {
+    2370             : 
+    2371          42 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: setting offboard to %d", in);
+    2372             : 
+    2373          84 :   std_srvs::Trigger srv;
+    2374             : 
+    2375          42 :   bool res = sch_offboard_.call(srv);
+    2376             : 
+    2377          42 :   if (!res) {
+    2378             : 
+    2379           0 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed!");
+    2380           0 :     return false;
+    2381             : 
+    2382             :   } else {
+    2383             : 
+    2384          42 :     if (!srv.response.success) {
+    2385           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed, returned: %s", srv.response.message.c_str());
+    2386           0 :       return false;
+    2387             :     } else {
+    2388          42 :       return true;
+    2389             :     }
+    2390             :   }
+    2391             : }
+    2392             : 
+    2393             : //}
+    2394             : 
+    2395             : /* pirouetteSrv() //{ */
+    2396             : 
+    2397           0 : void UavManager::pirouetteSrv(void) {
+    2398             : 
+    2399           0 :   std_srvs::Trigger srv;
+    2400             : 
+    2401           0 :   bool res = sch_pirouette_.call(srv);
+    2402             : 
+    2403           0 :   if (res) {
+    2404             : 
+    2405           0 :     if (!srv.response.success) {
+    2406           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for pirouette returned: %s.", srv.response.message.c_str());
+    2407             :     }
+    2408             : 
+    2409             :   } else {
+    2410           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for pirouette failed!");
+    2411             :   }
+    2412           0 : }
+    2413             : 
+    2414             : //}
+    2415             : 
+    2416             : /* disarmSrv() //{ */
+    2417             : 
+    2418           2 : void UavManager::disarmSrv(void) {
+    2419             : 
+    2420           4 :   std_srvs::SetBool srv;
+    2421             : 
+    2422           2 :   srv.request.data = false;
+    2423             : 
+    2424           2 :   bool res = sch_arm_.call(srv);
+    2425             : 
+    2426           2 :   if (res) {
+    2427             : 
+    2428           2 :     if (!srv.response.success) {
+    2429           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call disarming returned: %s.", srv.response.message.c_str());
+    2430             :     }
+    2431             : 
+    2432             :   } else {
+    2433           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for disarming failed!");
+    2434             :   }
+    2435           2 : }
+    2436             : 
+    2437             : //}
+    2438             : 
+    2439             : /* switchControllerSrv() //{ */
+    2440             : 
+    2441          96 : bool UavManager::switchControllerSrv(const std::string& controller) {
+    2442             : 
+    2443          96 :   ROS_INFO_STREAM("[UavManager]: activating controller '" << controller << "'");
+    2444             : 
+    2445         192 :   mrs_msgs::String srv;
+    2446          96 :   srv.request.value = controller;
+    2447             : 
+    2448          96 :   bool res = sch_switch_controller_.call(srv);
+    2449             : 
+    2450          96 :   if (res) {
+    2451             : 
+    2452          96 :     if (!srv.response.success) {
+    2453           0 :       ROS_WARN("[UavManager]: service call for switching controller returned: '%s'", srv.response.message.c_str());
+    2454             :     }
+    2455             : 
+    2456          96 :     return srv.response.success;
+    2457             : 
+    2458             :   } else {
+    2459             : 
+    2460           0 :     ROS_ERROR("[UavManager]: service call for switching controller failed!");
+    2461             : 
+    2462           0 :     return false;
+    2463             :   }
+    2464             : }
+    2465             : 
+    2466             : //}
+    2467             : 
+    2468             : /* switchTrackerSrv() //{ */
+    2469             : 
+    2470          98 : bool UavManager::switchTrackerSrv(const std::string& tracker) {
+    2471             : 
+    2472          98 :   ROS_INFO_STREAM("[UavManager]: activating tracker '" << tracker << "'");
+    2473             : 
+    2474             : 
+    2475         196 :   mrs_msgs::String srv;
+    2476          98 :   srv.request.value = tracker;
+    2477             : 
+    2478          98 :   bool res = sch_switch_tracker_.call(srv);
+    2479             : 
+    2480          98 :   if (res) {
+    2481             : 
+    2482          98 :     if (!srv.response.success) {
+    2483           0 :       ROS_WARN("[UavManager]: service call for switching tracker returned: '%s'", srv.response.message.c_str());
+    2484             :     }
+    2485             : 
+    2486          98 :     return srv.response.success;
+    2487             : 
+    2488             :   } else {
+    2489             : 
+    2490           0 :     ROS_ERROR("[UavManager]: service call for switching tracker failed!");
+    2491             : 
+    2492           0 :     return false;
+    2493             :   }
+    2494             : }
+    2495             : 
+    2496             : //}
+    2497             : 
+    2498             : /* landSrv() //{ */
+    2499             : 
+    2500           2 : bool UavManager::landSrv(void) {
+    2501             : 
+    2502           2 :   ROS_INFO("[UavManager]: calling for landing");
+    2503             : 
+    2504           4 :   std_srvs::Trigger srv;
+    2505             : 
+    2506           2 :   bool res = sch_land_.call(srv);
+    2507             : 
+    2508           2 :   if (res) {
+    2509             : 
+    2510           2 :     if (!srv.response.success) {
+    2511           0 :       ROS_WARN("[UavManager]: service call for landing returned: '%s'", srv.response.message.c_str());
+    2512             :     }
+    2513             : 
+    2514           2 :     return srv.response.success;
+    2515             : 
+    2516             :   } else {
+    2517             : 
+    2518           0 :     ROS_ERROR("[UavManager]: service call for landing failed!");
+    2519             : 
+    2520           0 :     return false;
+    2521             :   }
+    2522             : }
+    2523             : 
+    2524             : //}
+    2525             : 
+    2526             : /* elandSrv() //{ */
+    2527             : 
+    2528           0 : bool UavManager::elandSrv(void) {
+    2529             : 
+    2530           0 :   ROS_INFO("[UavManager]: calling for eland");
+    2531             : 
+    2532           0 :   std_srvs::Trigger srv;
+    2533             : 
+    2534           0 :   bool res = sch_eland_.call(srv);
+    2535             : 
+    2536           0 :   if (res) {
+    2537             : 
+    2538           0 :     if (!srv.response.success) {
+    2539           0 :       ROS_WARN("[UavManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    2540             :     }
+    2541             : 
+    2542           0 :     return srv.response.success;
+    2543             : 
+    2544             :   } else {
+    2545             : 
+    2546           0 :     ROS_ERROR("[UavManager]: service call for eland failed!");
+    2547             : 
+    2548           0 :     return false;
+    2549             :   }
+    2550             : }
+    2551             : 
+    2552             : //}
+    2553             : 
+    2554             : /* ehoverSrv() //{ */
+    2555             : 
+    2556           0 : bool UavManager::ehoverSrv(void) {
+    2557             : 
+    2558           0 :   ROS_INFO("[UavManager]: calling for ehover");
+    2559             : 
+    2560           0 :   std_srvs::Trigger srv;
+    2561             : 
+    2562           0 :   bool res = sch_ehover_.call(srv);
+    2563             : 
+    2564           0 :   if (res) {
+    2565             : 
+    2566           0 :     if (!srv.response.success) {
+    2567           0 :       ROS_WARN("[UavManager]: service call for ehover returned: '%s'", srv.response.message.c_str());
+    2568             :     }
+    2569             : 
+    2570           0 :     return srv.response.success;
+    2571             : 
+    2572             :   } else {
+    2573             : 
+    2574           0 :     ROS_ERROR("[UavManager]: service call for ehover failed!");
+    2575             : 
+    2576           0 :     return false;
+    2577             :   }
+    2578             : }
+    2579             : 
+    2580             : //}
+    2581             : 
+    2582             : /* takeoffSrv() //{ */
+    2583             : 
+    2584           5 : bool UavManager::takeoffSrv(void) {
+    2585             : 
+    2586           5 :   ROS_INFO("[UavManager]: calling for takeoff to height '%.2f m'", _takeoff_height_);
+    2587             : 
+    2588          10 :   mrs_msgs::Vec1 srv;
+    2589             : 
+    2590           5 :   srv.request.goal = _takeoff_height_;
+    2591             : 
+    2592           5 :   bool res = sch_takeoff_.call(srv);
+    2593             : 
+    2594           5 :   if (res) {
+    2595             : 
+    2596           5 :     if (!srv.response.success) {
+    2597           0 :       ROS_WARN("[UavManager]: service call for takeoff returned: '%s'", srv.response.message.c_str());
+    2598             :     }
+    2599             : 
+    2600           5 :     return srv.response.success;
+    2601             : 
+    2602             :   } else {
+    2603             : 
+    2604           0 :     ROS_ERROR("[UavManager]: service call for takeoff failed!");
+    2605             : 
+    2606           0 :     return false;
+    2607             :   }
+    2608             : }
+    2609             : 
+    2610             : //}
+    2611             : 
+    2612             : /* emergencyReferenceSrv() //{ */
+    2613             : 
+    2614           0 : bool UavManager::emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal) {
+    2615             : 
+    2616           0 :   ROS_INFO_THROTTLE(1.0, "[UavManager]: calling for emergency reference");
+    2617             : 
+    2618           0 :   mrs_msgs::ReferenceStampedSrv srv;
+    2619             : 
+    2620           0 :   srv.request.header    = goal.header;
+    2621           0 :   srv.request.reference = goal.reference;
+    2622             : 
+    2623           0 :   bool res = sch_emergency_reference_.call(srv);
+    2624             : 
+    2625           0 :   if (res) {
+    2626             : 
+    2627           0 :     if (!srv.response.success) {
+    2628           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for emergency reference returned: '%s'", srv.response.message.c_str());
+    2629             :     }
+    2630             : 
+    2631           0 :     return srv.response.success;
+    2632             : 
+    2633             :   } else {
+    2634             : 
+    2635           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for emergency reference failed!");
+    2636             : 
+    2637           0 :     return false;
+    2638             :   }
+    2639             : }
+    2640             : 
+    2641             : //}
+    2642             : 
+    2643             : }  // namespace uav_manager
+    2644             : 
+    2645             : }  // namespace mrs_uav_managers
+    2646             : 
+    2647             : #include <pluginlib/class_list_macros.h>
+    2648          47 : 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..c4d7df73e5 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.overview.html @@ -0,0 +1,682 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview 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+ Overview +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()40
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()40
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().240
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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..8f33f53b8b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
Legend: Lines: + hit + not hit +
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mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()40
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()40
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().240
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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..7ab30289e9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.html @@ -0,0 +1,159 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_STATE_GARMIN_AGL_H
+       2             : #define ESTIMATORS_STATE_GARMIN_AGL_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_msgs/Float64Stamped.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/agl_estimator.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_state_estimators
+      25             : {
+      26             : 
+      27             : namespace garmin_agl
+      28             : {
+      29             : const char name[]         = "garmin_agl";
+      30             : const char frame_id[]     = "garmin_agl_origin";
+      31             : const char package_name[] = "mrs_uav_state_estimators";
+      32             : 
+      33             : const bool is_core_plugin = true;
+      34             : 
+      35             : class GarminAgl : public mrs_uav_managers::AglEstimator {
+      36             : 
+      37             : private:
+      38             :   std::unique_ptr<AltGeneric> est_agl_garmin_;
+      39             :   const std::string           est_agl_name_ = "garmin_agl";
+      40             : 
+      41             :   const bool is_core_plugin_;
+      42             : 
+      43             :   ros::Timer timer_update_;
+      44             :   int        _update_timer_rate_;
+      45             :   void       timerUpdate(const ros::TimerEvent &event);
+      46             : 
+      47             :   ros::Timer timer_check_health_;
+      48             :   int        _check_health_timer_rate_;
+      49             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      50             : 
+      51             :   bool isConverged();
+      52             : 
+      53             :   void waitForEstimationInitialization();
+      54             : 
+      55             : public:
+      56          40 :   GarminAgl() : AglEstimator(garmin_agl::name, garmin_agl::frame_id, garmin_agl::package_name), is_core_plugin_(is_core_plugin) {
+      57          40 :   }
+      58             : 
+      59          80 :   ~GarminAgl(void) {
+      60          80 :   }
+      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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.overview.html new file mode 100644 index 0000000000..01180ec6c9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.overview.html @@ -0,0 +1,39 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..1d069e474cef144181fc5cb4a7752617234f2348 GIT binary patch literal 380 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1{!VDxu^<<9$DTx4|5ZC|z|E~gq{) z-+wzRyyepwr_aj9N0zi)yIA@DruK$xCbdH!RA#*~FEu*Kt+Mr|wp)bOzeHP(-D@^_ zujRkIGNJuOnSSTr%L_6h^0%b~7kbxKyUa3OW%x$$>|Ep5oPyiLY^#!;A~i6^vZ+X|Ua&y>FQExYwM!Ofs>mTmP>_Uf+f44=fmvnFp3 VG2vV8@g5jd44$rjF6*2Ung9 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/aglHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
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
garmin_agl.h +
100.0%
+ 		100.0 %4 / 4100.0 %3 / 3
<unnamed>100.0 %4 / 4100.0 %3 / 3
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+ + + + +
Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/aglHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
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garmin_agl.h +
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func-sort-c.html new file mode 100644 index 0000000000..a577a96ae7 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - alt_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
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mrs_uav_state_estimators::AltGeneric::AltGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)84
mrs_uav_state_estimators::AltGeneric::~AltGeneric()84
mrs_uav_state_estimators::AltGeneric::~AltGeneric().284
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - alt_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
Legend: Lines: + hit + not hit +
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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)84
mrs_uav_state_estimators::AltGeneric::~AltGeneric()84
mrs_uav_state_estimators::AltGeneric::~AltGeneric().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/altitude/alt_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..ffdd0b59a3 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.html new file mode 100644 index 0000000000..631fce8004 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.html @@ -0,0 +1,242 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - alt_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+       2             : #define ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : #include <sensor_msgs/Range.h>
+      10             : 
+      11             : #include <mrs_lib/lkf.h>
+      12             : #include <mrs_lib/repredictor.h>
+      13             : #include <mrs_lib/profiler.h>
+      14             : #include <mrs_lib/param_loader.h>
+      15             : #include <mrs_lib/subscribe_handler.h>
+      16             : 
+      17             : #include <functional>
+      18             : 
+      19             : #include <mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h>
+      20             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      21             : 
+      22             : #include <mrs_uav_state_estimators/AltitudeEstimatorConfig.h>
+      23             : 
+      24             : //}
+      25             : 
+      26             : namespace mrs_uav_state_estimators
+      27             : {
+      28             : 
+      29             : namespace alt_generic
+      30             : {
+      31             : 
+      32             : const int n_states       = 3;
+      33             : const int n_inputs       = 1;
+      34             : const int n_measurements = 1;
+      35             : 
+      36             : }  // namespace alt_generic
+      37             : 
+      38             : class AltGeneric : public AltitudeEstimator<alt_generic::n_states> {
+      39             : 
+      40             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      41             : 
+      42             :   typedef mrs_lib::DynamicReconfigureMgr<AltitudeEstimatorConfig> drmgr_t;
+      43             : 
+      44             :   using lkf_t      = mrs_lib::LKF<alt_generic::n_states, alt_generic::n_inputs, alt_generic::n_measurements>;
+      45             :   using A_t        = lkf_t::A_t;
+      46             :   using B_t        = lkf_t::B_t;
+      47             :   using H_t        = lkf_t::H_t;
+      48             :   using Q_t        = lkf_t::Q_t;
+      49             :   using x_t        = lkf_t::x_t;
+      50             :   using P_t        = lkf_t::P_t;
+      51             :   using u_t        = lkf_t::u_t;
+      52             :   using z_t        = lkf_t::z_t;
+      53             :   using R_t        = lkf_t::R_t;
+      54             :   using statecov_t = lkf_t::statecov_t;
+      55             : 
+      56             :   typedef mrs_lib::Repredictor<lkf_t> rep_lkf_t;
+      57             : 
+      58             :   using StateId_t = mrs_uav_managers::estimation_manager::StateId_t;
+      59             : 
+      60             : private:
+      61             :   std::string parent_state_est_name_;
+      62             : 
+      63             :   double                              dt_;
+      64             :   double                              input_coeff_, default_input_coeff_;
+      65             :   A_t                                 A_;
+      66             :   B_t                                 B_;
+      67             :   H_t                                 H_;
+      68             :   Q_t                                 Q_;
+      69             :   std::shared_ptr<lkf_t>              lkf_;
+      70             :   std::unique_ptr<rep_lkf_t>          lkf_rep_;
+      71             :   std::vector<std::shared_ptr<lkf_t>> models_;
+      72             :   mutable std::mutex                  mutex_lkf_;
+      73             :   statecov_t                          sc_;
+      74             :   mutable std::mutex                  mutex_sc_;
+      75             : 
+      76             :   std::unique_ptr<drmgr_t> drmgr_;
+      77             :   void callbackReconfigure(AltitudeEstimatorConfig& config, [[maybe_unused]] uint32_t level);
+      78             : 
+      79             :   z_t                innovation_;
+      80             :   mutable std::mutex mtx_innovation_;
+      81             : 
+      82             :   bool is_error_state_first_time_ = true;
+      83             :   ros::Duration error_state_duration_;
+      84             :   ros::Time prev_time_in_error_state_;
+      85             : 
+      86             :   bool is_repredictor_enabled_;
+      87             :   int  rep_buffer_size_ = 200;
+      88             : 
+      89             :   const bool is_core_plugin_;
+      90             : 
+      91             :   std::vector<std::string>                                              correction_names_;
+      92             :   std::vector<std::shared_ptr<Correction<alt_generic::n_measurements>>> corrections_;
+      93             : 
+      94             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      95             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      96             :   std::atomic<bool>                                   is_input_ready_ = false;
+      97             : 
+      98             :   ros::Timer timer_update_;
+      99             :   void       timerUpdate(const ros::TimerEvent &event);
+     100             : 
+     101             :   ros::Timer timer_check_health_;
+     102             :   void       timerCheckHealth(const ros::TimerEvent &event);
+     103             : 
+     104             :   void doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     105             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     106             : 
+     107             :   bool isConverged();
+     108             : 
+     109             :   Q_t                getQ();
+     110             :   mutable std::mutex mtx_Q_;
+     111             : 
+     112             : public:
+     113          84 :   AltGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     114          84 :       : AltitudeEstimator<alt_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     115          84 :   }
+     116             : 
+     117         168 :   ~AltGeneric(void) {
+     118         168 :   }
+     119             : 
+     120             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     121             :   bool start(void) override;
+     122             :   bool pause(void) override;
+     123             :   bool reset(void) override;
+     124             : 
+     125             :   double getState(const int &state_idx_in) const override;
+     126             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     127             : 
+     128             :   void setState(const double &state_in, const int &state_idx_in) override;
+     129             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     130             : 
+     131             :   states_t getStates(void) const override;
+     132             :   void     setStates(const states_t &states_in) override;
+     133             : 
+     134             :   double getCovariance(const int &state_idx_in) const override;
+     135             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     136             : 
+     137             :   covariance_t getCovarianceMatrix(void) const override;
+     138             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     139             : 
+     140             :   double getInnovation(const int &state_idx) const override;
+     141             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     142             : 
+     143             :   void setDt(const double &dt);
+     144             :   void setInputCoeff(const double &input_coeff);
+     145             : 
+     146             :   void generateA();
+     147             :   void generateB();
+     148             : 
+     149             :   void timeoutOdom(const std::string &topic, const ros::Time &last_msg, const int n_pubs);
+     150             :   void timeoutRange(const std::string &topic, const ros::Time &last_msg, const int n_pubs);
+     151             : 
+     152             :   std::string getNamespacedName() const;
+     153             : 
+     154             :   std::string getPrintName() const;
+     155             : };
+     156             : }  // namespace mrs_uav_state_estimators
+     157             : 
+     158             : #endif  // ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+
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Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..fdd77c42987a7bc3630f5b90c60f6d87d72bbc76 GIT binary patch literal 682 zcmV;b0#*HqP)(mad{$f%qh)u%DK)n18Omi@VH(-O z)_}`B6W2G~-*Anm>(3a#TneMWW6mw0+Yr#5A)jS30HK+ue@s(ebjWF^N?g&FDXkhc zG~zLTeZWj>n!`|lHse2V4KNqve8q6arh4#3f`bu-$|g1;(RmLEU`=*H?^@9!0UI@^ zm|l~j@|VDFvh+i4168u#6@k{4`U+GgvM(ilW+X-t>oXb$SXA0+25Diyh?J6uyE9+$ zkQFRg3M?2zjk7C!Ex;D`{4v0J3_tQ%@`7ugeo`pQl6^9|GAJxAvEYWv%p@X;bXImx zy;K(RwOpYq0C zFMGUT-OP4Py4e!X-YB;BWv~3Xr@wdpyspExZTnlc7ySy`zPT*;Ulg;WflYMLA$uz%m|-ns!A!oyX6teHI$8v@6Ddi^C>a(n?R5I16zQm+97J9 QqyPW_07*qoM6N<$f@O^^S^xk5 literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func-sort-c.html new file mode 100644 index 0000000000..c1098da542 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:2366.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::AltitudeEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)84
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().284
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func.html new file mode 100644 index 0000000000..dd23f85564 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltitudeEstimator<3>::AltitudeEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)84
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().284
+
+
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..c89e621d6c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html new file mode 100644 index 0000000000..47d1ad6924 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html @@ -0,0 +1,130 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions: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          84 :   AltitudeEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(altitude::type, name, frame_id) {
+      31          84 :   }
+      32             : 
+      33          84 :   virtual ~AltitudeEstimator(void) {
+      34          84 :   }
+      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..e0d301cf37 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-06 10:06:33Functions: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..c3103fcf17 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-l.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-06 10:06:33Functions: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..02edab3119 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-06 10:06:33Functions: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..53ca6f0b32 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-f.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-06 10:06:33Functions: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..04f6d5c43a --- /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:2023-12-06 10:06:33Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html new file mode 100644 index 0000000000..e75606f1eb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-06 10:06:33Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-sort-c.html new file mode 100644 index 0000000000..5b6e4f69a1 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-sort-c.html @@ -0,0 +1,348 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - correction.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36765556.0 %
Date:2023-12-06 10:06:33Functions:496773.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Correction<1>::getVelInFrame(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)0
mrs_uav_state_estimators::Correction<1>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackToggleRange(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getAvgRtkInitZ(double)0
mrs_uav_state_estimators::Correction<2>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)0
mrs_uav_state_estimators::Correction<2>::resetProcessors()0
mrs_uav_state_estimators::Correction<2>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackToggleRange(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)5
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&)44
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)>)46
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const92
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const94
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)>)128
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const184
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const256
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const288
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const350
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1000
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1002
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1015
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1015
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1029
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1029
mrs_uav_state_estimators::Correction<2>::getRawCorrection()1243
mrs_uav_state_estimators::Correction<2>::getProcessedCorrection()1243
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()2157
mrs_uav_state_estimators::Correction<1>::getRawCorrection()2159
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)4560
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> >)4568
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)4568
mrs_uav_state_estimators::Correction<2>::isMsgComing()51872
mrs_uav_state_estimators::Correction<2>::isHealthy()51872
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)104519
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)104996
mrs_uav_state_estimators::Correction<1>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)111567
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)111621
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)113849
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)113891
mrs_uav_state_estimators::Correction<1>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)116400
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)116444
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)116444
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)119397
mrs_uav_state_estimators::Correction<2>::setR(double)119468
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)119468
mrs_uav_state_estimators::Correction<2>::getStateId() const119539
mrs_uav_state_estimators::Correction<1>::isHealthy()142030
mrs_uav_state_estimators::Correction<1>::isMsgComing()142070
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)238936
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)333125
mrs_uav_state_estimators::Correction<1>::setR(double)333191
mrs_uav_state_estimators::Correction<1>::getStateId() const333196
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)333241
mrs_uav_state_estimators::Correction<2>::getR()597267
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)666233
mrs_uav_state_estimators::Correction<1>::getR()999339
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - correction.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36765556.0 %
Date:2023-12-06 10:06:33Functions:496773.1 %
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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>)1000
mrs_uav_state_estimators::Correction<1>::isMsgComing()142070
mrs_uav_state_estimators::Correction<1>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)111567
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)104519
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>)116400
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&)333125
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)116444
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()2159
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)666233
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>)1015
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>)111621
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)104996
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()2157
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)5
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)116444
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()999339
mrs_uav_state_estimators::Correction<1>::setR(double)333191
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)333241
mrs_uav_state_estimators::Correction<1>::isHealthy()142030
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)>)128
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1002
mrs_uav_state_estimators::Correction<2>::isMsgComing()51872
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)113849
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> >)4568
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)4560
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&)119397
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()1243
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)238936
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>)1029
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>)113891
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()1243
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)44
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)4568
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()597267
mrs_uav_state_estimators::Correction<2>::setR(double)119468
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)119468
mrs_uav_state_estimators::Correction<2>::isHealthy()51872
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)>)46
mrs_uav_state_estimators::Correction<1>::getStateId() const333196
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const288
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const350
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1015
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const256
mrs_uav_state_estimators::Correction<2>::getStateId() const119539
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const94
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const184
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1029
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const92
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - correction.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36765556.0 %
Date:2023-12-06 10:06:33Functions:496773.1 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef ESTIMATORS_CORRECTION_H
+       3             : #define ESTIMATORS_CORRECTION_H
+       4             : 
+       5             : #include <Eigen/Dense>
+       6             : 
+       7             : #include <mrs_lib/subscribe_handler.h>
+       8             : #include <mrs_lib/publisher_handler.h>
+       9             : #include <mrs_lib/attitude_converter.h>
+      10             : #include <mrs_lib/param_loader.h>
+      11             : #include <mrs_lib/dynamic_reconfigure_mgr.h>
+      12             : #include <mrs_lib/gps_conversions.h>
+      13             : #include <mrs_lib/mutex.h>
+      14             : #include <mrs_lib/geometry/cyclic.h>
+      15             : 
+      16             : #include <mrs_msgs/RtkGps.h>
+      17             : #include <mrs_msgs/EstimatorCorrection.h>
+      18             : #include <mrs_msgs/Float64Stamped.h>
+      19             : 
+      20             : #include <sensor_msgs/Range.h>
+      21             : #include <nav_msgs/Odometry.h>
+      22             : 
+      23             : #include <std_srvs/SetBool.h>
+      24             : 
+      25             : #include <functional>
+      26             : 
+      27             : #include <mrs_uav_managers/estimation_manager/types.h>
+      28             : #include <mrs_uav_managers/estimation_manager/support.h>
+      29             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      30             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      31             : 
+      32             : #include <mrs_uav_state_estimators/processors/processor.h>
+      33             : #include <mrs_uav_state_estimators/processors/proc_median_filter.h>
+      34             : #include <mrs_uav_state_estimators/processors/proc_saturate.h>
+      35             : #include <mrs_uav_state_estimators/processors/proc_excessive_tilt.h>
+      36             : #include <mrs_uav_state_estimators/processors/proc_tf_to_world.h>
+      37             : 
+      38             : #include <mrs_uav_state_estimators/CorrectionConfig.h>
+      39             : 
+      40             : 
+      41             : namespace mrs_uav_state_estimators
+      42             : {
+      43             : 
+      44             : typedef enum
+      45             : {
+      46             :   LATERAL,
+      47             :   ALTITUDE,
+      48             :   HEADING
+      49             : } EstimatorType_t;
+      50             : const int n_EstimatorType_t = 3;
+      51             : 
+      52             : typedef enum
+      53             : {
+      54             :   UNKNOWN,
+      55             :   ODOMETRY,
+      56             :   POSE,
+      57             :   POSECOV,
+      58             :   RANGE,
+      59             :   RTK_GPS,
+      60             :   POINT,
+      61             :   VECTOR,
+      62             :   QUAT,
+      63             : } MessageType_t;
+      64             : const int n_MessageType_t = 9;
+      65             : 
+      66             : const std::map<std::string, MessageType_t> map_msg_type{{"nav_msgs/Odometry", MessageType_t::ODOMETRY},
+      67             :                                                         {"geometry_msgs/PoseStamped", MessageType_t::POSE},
+      68             :                                                         {"geometry_msgs/PoseWithCovarianceStamped", MessageType_t::POSECOV},
+      69             :                                                         {"sensor_msgs/Range", MessageType_t::RANGE},
+      70             :                                                         {"mrs_msgs/RtkGps", MessageType_t::RTK_GPS},
+      71             :                                                         {"geometry_msgs/PointStamped", MessageType_t::POINT},
+      72             :                                                         {"geometry_msgs/Vector3Stamped", MessageType_t::VECTOR},
+      73             :                                                         {"geometry_msgs/QuaternionStamped", MessageType_t::QUAT}};
+      74             : 
+      75             : template <int n_measurements>
+      76             : class Correction {
+      77             : 
+      78             :   using CommonHandlers_t  = mrs_uav_managers::estimation_manager::CommonHandlers_t;
+      79             :   using PrivateHandlers_t = mrs_uav_managers::estimation_manager::PrivateHandlers_t;
+      80             :   using StateId_t         = mrs_uav_managers::estimation_manager::StateId_t;
+      81             : 
+      82             : public:
+      83             :   typedef Eigen::Matrix<double, n_measurements, 1>         measurement_t;
+      84             :   typedef mrs_lib::DynamicReconfigureMgr<CorrectionConfig> drmgr_t;
+      85             : 
+      86             :   struct MeasurementStamped
+      87             :   {
+      88             :     ros::Time     stamp;
+      89             :     measurement_t value;
+      90             :   };
+      91             : 
+      92             : public:
+      93             :   Correction(ros::NodeHandle& nh, const std::string& est_name, const std::string& name, const std::string& frame_id, const EstimatorType_t& est_type,
+      94             :              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph, std::function<double(int, int)> fun_get_state,
+      95             :              std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction);
+      96             : 
+      97             :   std::string getName() const;
+      98             :   std::string getNamespacedName() const;
+      99             :   std::string getPrintName() const;
+     100             : 
+     101             :   double    getR();
+     102             :   void      setR(const double R);
+     103             :   StateId_t getStateId() const;
+     104             : 
+     105             :   bool             isHealthy();
+     106             :   ros::Time        healthy_time_;
+     107             :   std::atomic_bool is_healthy_    = true;
+     108             :   std::atomic_bool is_delay_ok_   = true;
+     109             :   std::atomic_bool is_dt_ok_      = true;
+     110             :   std::atomic_bool is_nan_free_   = true;
+     111             :   std::atomic_bool got_first_msg_ = false;
+     112             : 
+     113             :   int counter_nan_ = 0;
+     114             : 
+     115             :   std::optional<MeasurementStamped> getRawCorrection();
+     116             :   std::optional<MeasurementStamped> getProcessedCorrection();
+     117             : 
+     118             :   void resetProcessors();
+     119             : 
+     120             : private:
+     121             :   std::atomic_bool is_initialized_ = false;
+     122             : 
+     123             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odom_;
+     124             :   void                                          callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     125             :   std::optional<measurement_t>                  getCorrectionFromOdometry(const nav_msgs::OdometryConstPtr msg);
+     126             : 
+     127             :   mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped> sh_pose_s_;
+     128             :   void                                                  callbackPoseStamped(const geometry_msgs::PoseStamped::ConstPtr msg);
+     129             :   std::optional<measurement_t>                          getCorrectionFromPoseStamped(const geometry_msgs::PoseStampedConstPtr msg);
+     130             : 
+     131             :   mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped> sh_pose_wcs_;
+     132             : 
+     133             :   mrs_lib::SubscribeHandler<mrs_msgs::RtkGps> sh_rtk_;
+     134             :   void                                        callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg);
+     135             :   std::optional<measurement_t>                getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg);
+     136             :   void                                        getAvgRtkInitZ(const double rtk_z);
+     137             :   bool                                        got_avg_init_rtk_z_ = false;
+     138             :   double                                      rtk_init_z_avg_     = 0.0;
+     139             :   int                                         got_rtk_counter_    = 0;
+     140             : 
+     141             :   mrs_lib::SubscribeHandler<geometry_msgs::PointStamped> sh_point_;
+     142             :   void                                                   callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg);
+     143             :   std::optional<measurement_t>                           getCorrectionFromPoint(const geometry_msgs::PointStampedConstPtr msg);
+     144             : 
+     145             :   mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped> sh_vector_;
+     146             :   std::optional<measurement_t>                             getCorrectionFromVector(const geometry_msgs::Vector3StampedConstPtr msg);
+     147             :   void                                                     callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg);
+     148             : 
+     149             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_orientation_; // for obtaining heading rate
+     150             :   std::string orientation_topic_;
+     151             : 
+     152             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_quat_;
+     153             :   measurement_t                                               prev_hdg_measurement_;
+     154             :   bool                                                        got_first_hdg_measurement_ = false;
+     155             : 
+     156             :   mrs_lib::SubscribeHandler<sensor_msgs::Range> sh_range_;
+     157             :   std::optional<measurement_t>                  getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg);
+     158             :   void                                          callbackRange(const sensor_msgs::Range::ConstPtr msg);
+     159             :   ros::ServiceServer                            ser_toggle_range_;
+     160             :   bool                                          callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     161             :   bool                                          range_enabled_ = true;
+     162             : 
+     163             :   void applyCorrection(const measurement_t& meas, const ros::Time& stamp);
+     164             : 
+     165             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection> ph_correction_raw_;
+     166             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection> ph_correction_proc_;
+     167             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>      ph_delay_;
+     168             : 
+     169             :   const std::string                  est_name_;
+     170             :   const std::string                  name_;
+     171             :   const std::string                  ns_frame_id_;
+     172             :   const EstimatorType_t              est_type_;
+     173             :   std::shared_ptr<CommonHandlers_t>  ch_;
+     174             :   std::shared_ptr<PrivateHandlers_t> ph_;
+     175             : 
+     176             :   MessageType_t msg_type_;
+     177             :   std::string   msg_topic_;
+     178             :   double        msg_timeout_;
+     179             : 
+     180             :   double     R_;
+     181             :   double     default_R_;
+     182             :   double     R_coeff_;
+     183             :   std::mutex mtx_R_;
+     184             :   StateId_t  state_id_;
+     185             :   bool       is_in_body_frame_ = true;
+     186             : 
+     187             :   std::unique_ptr<drmgr_t> drmgr_;
+     188             : 
+     189             :   std::optional<measurement_t> getCorrectionFromQuat(const geometry_msgs::QuaternionStampedConstPtr msg);
+     190             :   std::optional<measurement_t> getZVelUntilted(const geometry_msgs::Vector3& msg, const std_msgs::Header& header);
+     191             :   std::optional<measurement_t> getVelInFrame(const geometry_msgs::Vector3& vel_in, const std_msgs::Header& source_header, const std::string target_frame);
+     192             : 
+     193             :   std::optional<geometry_msgs::Pose> transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const;
+     194             : 
+     195             :   void   checkMsgDelay(const ros::Time& msg_time);
+     196             :   double msg_delay_limit_;
+     197             :   double msg_delay_warn_limit_;
+     198             : 
+     199             :   double time_since_last_msg_limit_;
+     200             : 
+     201             :   std::shared_ptr<Processor<n_measurements>> createProcessorFromName(const std::string& name, ros::NodeHandle& nh);
+     202             :   bool                                       process(measurement_t& measurement);
+     203             : 
+     204             :   bool             isTimestampOk();
+     205             :   bool             isMsgComing();
+     206             :   std::atomic_bool first_timestamp_ = true;
+     207             :   ros::Time        msg_time_;
+     208             :   ros::Time        prev_msg_time_;
+     209             :   std::mutex       mtx_msg_time_;
+     210             : 
+     211             :   std::vector<std::string>                                                    processor_names_;
+     212             :   std::unordered_map<std::string, std::shared_ptr<Processor<n_measurements>>> processors_;
+     213             : 
+     214             :   std::function<double(int, int)>                            fun_get_state_;
+     215             :   std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction_;
+     216             : 
+     217             :   void publishCorrection(const MeasurementStamped& measurement_stamped, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr);
+     218             :   void publishDelay(const double delay);
+     219             : };
+     220             : 
+     221             : /*//{ constructor */
+     222             : template <int n_measurements>
+     223         174 : 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         174 :       fun_apply_correction_(fun_apply_correction) {
+     235             : 
+     236             :   // | --------------------- load parameters -------------------- |
+     237             : 
+     238         348 :   std::string msg_type_string;
+     239             : 
+     240         174 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + getNamespacedName() + "/");
+     241             : 
+     242         174 :   ph->param_loader->loadParam("message/type", msg_type_string);
+     243         174 :   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         174 :   msg_type_ = map_msg_type.at(msg_type_string);
+     248             : 
+     249         174 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+     250         174 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+     251         174 :   ph->param_loader->loadParam("message/limit/delay", msg_delay_limit_);
+     252         174 :   msg_delay_warn_limit_ = msg_delay_limit_ / 2;  // maybe specify this as a param?
+     253         174 :   ph->param_loader->loadParam("message/limit/time_since_last", time_since_last_msg_limit_);
+     254             : 
+     255             :   int state_id_tmp;
+     256         174 :   ph->param_loader->loadParam("state_id", state_id_tmp);
+     257         174 :   if (state_id_tmp < n_StateId_t) {
+     258         174 :     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         174 :   if (state_id_ == StateId_t::VELOCITY) {
+     265          46 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     266             :   }
+     267             : 
+     268         174 :   ph->param_loader->loadParam("noise", R_);
+     269         174 :   ph->param_loader->loadParam("noise_unhealthy_coeff", R_coeff_);
+     270         174 :   default_R_ = R_;
+     271             : 
+     272             :   // | --------------- processors initialization --------------- |
+     273         174 :   ph->param_loader->loadParam("processors", processor_names_);
+     274             : 
+     275         223 :   for (auto proc_name : processor_names_) {
+     276          49 :     processors_[proc_name] = createProcessorFromName(proc_name, nh);
+     277             :   }
+     278             : 
+     279             :   // | ------------- initialize dynamic reconfigure ------------- |
+     280         174 :   drmgr_               = std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), getPrintName());
+     281         174 :   drmgr_->config.noise = R_;
+     282         174 :   drmgr_->update_config(drmgr_->config);
+     283             : 
+     284             :   // | -------------- initialize subscribe handlers ------------- |
+     285         348 :   mrs_lib::SubscribeHandlerOptions shopts;
+     286         174 :   shopts.nh                 = nh;
+     287         174 :   shopts.node_name          = getPrintName();
+     288         174 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     289         174 :   shopts.threadsafe         = true;
+     290         174 :   shopts.autostart          = true;
+     291         174 :   shopts.queue_size         = 10;
+     292         174 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     293             : 
+     294         174 :   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          41 :     case MessageType_t::RANGE: {
+     309          41 :       sh_range_                   = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, msg_topic_, &Correction::callbackRange, this);
+     310          41 :       const std::size_t found     = ros::this_node::getName().find_last_of("/");
+     311          82 :       std::string       node_name = ros::this_node::getName().substr(found + 1);
+     312          82 :       ser_toggle_range_ =
+     313          41 :           nh.advertiseService(ros::this_node::getName() + "/" + getNamespacedName() + "/toggle_range_in", &Correction::callbackToggleRange, this);
+     314          41 :       break;
+     315             :     }
+     316           4 :     case MessageType_t::RTK_GPS: {
+     317           4 :       sh_rtk_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, msg_topic_, &Correction::callbackRtk, this);
+     318           4 :       break;
+     319             :     }
+     320          83 :     case MessageType_t::POINT: {
+     321          83 :       sh_point_ = mrs_lib::SubscribeHandler<geometry_msgs::PointStamped>(shopts, msg_topic_, &Correction::callbackPoint, this);
+     322          83 :       break;
+     323             :     }
+     324          46 :     case MessageType_t::VECTOR: {
+     325          46 :       sh_vector_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, msg_topic_, &Correction::callbackVector, this);
+     326          46 :       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         174 :   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         174 :   if (ch_->debug_topics.correction) {
+     351         174 :     ph_correction_raw_  = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/raw", 10);
+     352         174 :     ph_correction_proc_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/proc", 10);
+     353             :   }
+     354         174 :   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         174 :   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         174 :   healthy_time_ = ros::Time(0);
+     365             : 
+     366         174 :   is_initialized_ = true;
+     367         174 : }
+     368             : /*//}*/
+     369             : 
+     370             : /*//{ getName() */
+     371             : template <int n_measurements>
+     372         348 : std::string Correction<n_measurements>::getName() const {
+     373         348 :   return name_;
+     374             : }
+     375             : /*//}*/
+     376             : 
+     377             : /*//{ getNamespacedName() */
+     378             : template <int n_measurements>
+     379         534 : std::string Correction<n_measurements>::getNamespacedName() const {
+     380         534 :   return est_name_ + "/" + name_;
+     381             : }
+     382             : /*//}*/
+     383             : 
+     384             : /*//{ getPrintName() */
+     385             : template <int n_measurements>
+     386         382 : std::string Correction<n_measurements>::getPrintName() const {
+     387         382 :   return ch_->nodelet_name + "/" + est_name_ + "/" + name_;
+     388             : }
+     389             : /*//}*/
+     390             : 
+     391             : /*//{ getR() */
+     392             : template <int n_measurements>
+     393     1596606 : double Correction<n_measurements>::getR() {
+     394     1596606 :   std::scoped_lock lock(mtx_R_);
+     395     1596501 :   default_R_ = drmgr_->config.noise;
+     396     3192506 :   return R_;
+     397             : }
+     398             : /*//}*/
+     399             : 
+     400             : /*//{ setR() */
+     401             : template <int n_measurements>
+     402      452659 : void Correction<n_measurements>::setR(const double R) {
+     403      452659 :   std::scoped_lock lock(mtx_R_);
+     404      452585 :   R_ = R;
+     405      452596 : }
+     406             : /*//}*/
+     407             : 
+     408             : /*//{ getStateId() */
+     409             : template <int n_measurements>
+     410      452735 : StateId_t Correction<n_measurements>::getStateId() const {
+     411      452735 :   return state_id_;
+     412             : }
+     413             : /*//}*/
+     414             : 
+     415             : /*//{ isHealthy() */
+     416             : template <int n_measurements>
+     417      193902 : bool Correction<n_measurements>::isHealthy() {
+     418             : 
+     419      193902 :   if (!is_initialized_) {
+     420           0 :     return false;
+     421             :   }
+     422             : 
+     423      193793 :   is_dt_ok_ = isMsgComing();
+     424             : 
+     425      193945 :   if (!is_delay_ok_) {
+     426           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: delay not ok", getPrintName().c_str());
+     427             :   }
+     428             : 
+     429      193858 :   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      193825 :   is_healthy_ = is_healthy_ && is_dt_ok_ && is_delay_ok_;
+     440             : 
+     441      193862 :   return is_healthy_;
+     442             : }
+     443             : /*//}*/
+     444             : 
+     445             : /*//{ getRawCorrection() */
+     446             : template <int n_measurements>
+     447        3402 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getRawCorrection() {
+     448             : 
+     449        3402 :   if (!is_initialized_) {
+     450           0 :     return {};
+     451             :   }
+     452             : 
+     453        3377 :   MeasurementStamped measurement_stamped;
+     454             : 
+     455        3381 :   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        1048 :     case MessageType_t::RANGE: {
+     516             : 
+     517        1048 :       if (!range_enabled_) {
+     518           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+     519         978 :         return {};
+     520             :       }
+     521             : 
+     522        1048 :       if (!sh_range_.hasMsg()) {
+     523         571 :         return {};
+     524             :       }
+     525             : 
+     526         477 :       auto msg                  = sh_range_.getMsg();
+     527         477 :       measurement_stamped.stamp = msg->header.stamp;
+     528             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     529             : 
+     530             :       /* if (!is_delay_ok_) { */
+     531             :       /*   return {}; */
+     532             :       /* } */
+     533             : 
+     534         477 :       auto res = getCorrectionFromRange(msg);
+     535         477 :       if (res) {
+     536          70 :         measurement_stamped.value = res.value();
+     537             :       } else {
+     538         407 :         return {};
+     539             :       }
+     540          70 :       break;
+     541             :     }
+     542             : 
+     543          42 :     case MessageType_t::RTK_GPS: {
+     544             : 
+     545          42 :       if (!sh_rtk_.hasMsg()) {
+     546           0 :         ROS_ERROR_THROTTLE(1.0, " no rtk msgs so far");
+     547          12 :         return {};
+     548             :       }
+     549             : 
+     550          42 :       auto msg                  = sh_rtk_.getMsg();
+     551          42 :       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          42 :       auto res = getCorrectionFromRtk(msg);
+     560          42 :       if (res) {
+     561          30 :         measurement_stamped.value = res.value();
+     562             :       } else {
+     563          12 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get rtk correction", ros::this_node::getName().c_str());
+     564          12 :         return {};
+     565             :       }
+     566             : 
+     567          30 :       break;
+     568             :     }
+     569             : 
+     570        2227 :     case MessageType_t::POINT: {
+     571             : 
+     572        2227 :       if (!sh_point_.hasMsg()) {
+     573        2131 :         return {};
+     574             :       }
+     575             : 
+     576          96 :       auto msg                  = sh_point_.getMsg();
+     577          96 :       measurement_stamped.stamp = msg->header.stamp;
+     578             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     579             : 
+     580             :       /* if (!is_delay_ok_) { */
+     581             :       /*   return {}; */
+     582             :       /* } */
+     583          96 :       auto res = getCorrectionFromPoint(msg);
+     584          96 :       if (res) {
+     585          96 :         measurement_stamped.value = res.value();
+     586             :       } else {
+     587           0 :         return {};
+     588             :       }
+     589          96 :       break;
+     590             :     }
+     591             : 
+     592          85 :     case MessageType_t::VECTOR: {
+     593             : 
+     594          85 :       if (!sh_vector_.hasMsg()) {
+     595          39 :         return {};
+     596             :       }
+     597             : 
+     598          52 :       auto msg                  = sh_vector_.getMsg();
+     599          52 :       measurement_stamped.stamp = msg->header.stamp;
+     600             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     601             : 
+     602             :       /* if (!is_delay_ok_) { */
+     603             :       /*   return {}; */
+     604             :       /* } */
+     605          52 :       auto res = getCorrectionFromVector(msg);
+     606          52 :       if (res) {
+     607          46 :         measurement_stamped.value = res.value();
+     608             :       } else {
+     609           6 :         return {};
+     610             :       }
+     611          46 :       break;
+     612             :     }
+     613             : 
+     614           0 :     case MessageType_t::QUAT: {
+     615             : 
+     616           0 :       if (!sh_quat_.newMsg()) {
+     617           0 :         return {};
+     618             :       }
+     619             : 
+     620           0 :       auto msg                  = sh_quat_.getMsg();
+     621           0 :       measurement_stamped.stamp = msg->header.stamp;
+     622             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     623             : 
+     624             :       /* if (!is_delay_ok_) { */
+     625             :       /*   return {}; */
+     626             :       /* } */
+     627           0 :       auto res = getCorrectionFromQuat(msg);
+     628           0 :       if (res) {
+     629           0 :         measurement_stamped.value = res.value();
+     630             :       } else {
+     631           0 :         return {};
+     632             :       }
+     633           0 :       break;
+     634             :     }
+     635             : 
+     636           0 :     default: {
+     637           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: this type of correction is not implemented in getCorrectionFromMessage()", getPrintName().c_str());
+     638           0 :       is_healthy_ = false;
+     639           0 :       return {};
+     640             :     }
+     641             :   }
+     642             : 
+     643             :   // check for nans
+     644         242 :   is_nan_free_ = true;
+     645         554 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+     646         312 :     if (!std::isfinite(measurement_stamped.value(i))) {
+     647           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in correction. Total NaNs: %d", getPrintName().c_str(), ++counter_nan_);
+     648           0 :       is_nan_free_ = false;
+     649           0 :       return {};
+     650             :     }
+     651             :   }
+     652             : 
+     653         242 :   got_first_msg_ = true;
+     654         242 :   publishCorrection(measurement_stamped, ph_correction_raw_);
+     655             : 
+     656         242 :   return measurement_stamped;
+     657             : }
+     658             : /*//}*/
+     659             : 
+     660             : /*//{ getProcessedCorrection() */
+     661             : template <int n_measurements>
+     662        3400 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getProcessedCorrection() {
+     663             : 
+     664        3400 :   MeasurementStamped measurement_stamped;
+     665        3387 :   auto               res = getRawCorrection();
+     666        3402 :   if (res) {
+     667         242 :     MeasurementStamped measurement_stamped = res.value();
+     668         242 :     if (process(measurement_stamped.value)) {
+     669         213 :       publishCorrection(measurement_stamped, ph_correction_proc_);
+     670         213 :       return measurement_stamped;
+     671             :     } else {
+     672          29 :       return {};  // invalid correction
+     673             :     }
+     674             :   } else {
+     675        3159 :     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      104519 : void Correction<n_measurements>::callbackRange(const sensor_msgs::Range::ConstPtr msg) {
+     943             : 
+     944      104519 :   if (!is_initialized_) {
+     945           0 :     return;
+     946             :   }
+     947             : 
+     948      104519 :   auto res = getCorrectionFromRange(msg);
+     949      104519 :   if (res) {
+     950      104176 :     applyCorrection(res.value(), msg->header.stamp);
+     951             :   }
+     952             : }
+     953             : /*//}*/
+     954             : 
+     955             : /*//{ getCorrectionFromRange() */
+     956             : template <int n_measurements>
+     957      104996 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg) {
+     958             : 
+     959      104996 :   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      104996 :   if (!std::isfinite(msg->range)) {
+     965           5 :     ROS_ERROR_THROTTLE(1.0, "[%s]: received value: %f. Not using this correction.", getPrintName().c_str(), msg->range);
+     966           5 :     return {};
+     967             :   }
+     968             : 
+     969      209982 :   geometry_msgs::PoseStamped range_point;
+     970             : 
+     971      104991 :   range_point.header           = msg->header;
+     972      104991 :   range_point.pose.position.x  = msg->range;
+     973      104991 :   range_point.pose.position.y  = 0;
+     974      104991 :   range_point.pose.position.z  = 0;
+     975      104991 :   range_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     976             : 
+     977      209982 :   auto res = ch_->transformer->transformSingle(range_point, ch_->frames.ns_fcu_untilted);
+     978             : 
+     979      104991 :   Correction::measurement_t measurement;
+     980             : 
+     981      104991 :   if (res) {
+     982      104246 :     measurement(0) = -res.value().pose.position.z;
+     983      104246 :     return measurement;
+     984             :   } else {
+     985         745 :     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         745 :     return {};
+     988             :   }
+     989             : }
+     990             : /*//}*/
+     991             : 
+     992             : /*//{ callbackRtk() */
+     993             : template <int n_measurements>
+     994        2002 : void Correction<n_measurements>::callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg) {
+     995             : 
+     996        2002 :   if (!is_initialized_) {
+     997           0 :     return;
+     998             :   }
+     999             : 
+    1000        2002 :   auto res = getCorrectionFromRtk(msg);
+    1001        2002 :   if (res) {
+    1002        1992 :     applyCorrection(res.value(), msg->header.stamp);
+    1003             :   }
+    1004             : }
+    1005             : /*//}*/
+    1006             : 
+    1007             : /*//{ getCorrectionFromRtk() */
+    1008             : template <int n_measurements>
+    1009        2044 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg) {
+    1010             : 
+    1011        4088 :   geometry_msgs::PoseStamped rtk_pos;
+    1012             : 
+    1013        2044 :   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        2044 :   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        2044 :   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        2044 :   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        2044 :   rtk_pos.header = msg->header;
+    1034        2044 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+    1035        2044 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+    1036        2044 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1037             : 
+    1038        2044 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+    1039        2044 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+    1040             : 
+    1041        2044 :   Correction::measurement_t measurement;
+    1042             : 
+    1043             :   // transform the RTK position from antenna to FCU
+    1044        2044 :   auto res = transformRtkToFcu(rtk_pos);
+    1045        2044 :   if (res) {
+    1046        2044 :     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        2044 :   switch (est_type_) {
+    1053             : 
+    1054             :     // handle lateral estimators
+    1055        1029 :     case EstimatorType_t::LATERAL: {
+    1056             : 
+    1057        1029 :       switch (state_id_) {
+    1058             : 
+    1059        1029 :         case StateId_t::POSITION: {
+    1060        1029 :           measurement(0) = rtk_pos.pose.position.x;
+    1061        1029 :           measurement(1) = rtk_pos.pose.position.y;
+    1062        1029 :           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        1015 :     case EstimatorType_t::ALTITUDE: {
+    1076             : 
+    1077        1015 :       switch (state_id_) {
+    1078             : 
+    1079        1015 :         case StateId_t::POSITION: {
+    1080        1015 :           measurement(0) = rtk_pos.pose.position.z;
+    1081        1015 :           if (!got_avg_init_rtk_z_) {
+    1082          22 :             getAvgRtkInitZ(measurement(0));
+    1083          22 :             return {};
+    1084             :           }
+    1085         993 :           measurement(0) -= rtk_init_z_avg_;
+    1086         993 :           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      225416 : void Correction<n_measurements>::callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg) {
+    1113             : 
+    1114      225416 :   if (!is_initialized_) {
+    1115           0 :     return;
+    1116             :   }
+    1117             : 
+    1118      225416 :   auto res = getCorrectionFromPoint(msg);
+    1119      225416 :   if (res) {
+    1120      225416 :     applyCorrection(res.value(), msg->header.stamp);
+    1121             :   }
+    1122             : }
+    1123             : /*//}*/
+    1124             : 
+    1125             : /*//{ getCorrectionFromPoint() */
+    1126             : template <int n_measurements>
+    1127      225512 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoint(
+    1128             :     const geometry_msgs::PointStampedConstPtr msg) {
+    1129             : 
+    1130      225512 :   switch (est_type_) {
+    1131             : 
+    1132             :     // handle lateral estimators
+    1133      113891 :     case EstimatorType_t::LATERAL: {
+    1134             : 
+    1135      113891 :       switch (state_id_) {
+    1136             : 
+    1137      113891 :         case StateId_t::POSITION: {
+    1138      113891 :           measurement_t measurement;
+    1139      113891 :           measurement(0) = msg->point.x;
+    1140      113891 :           measurement(1) = msg->point.y;
+    1141      113891 :           return measurement;
+    1142             :           break;
+    1143             :         }
+    1144             : 
+    1145           0 :         default: {
+    1146           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1147           0 :           return {};
+    1148             :         }
+    1149             :       }
+    1150             :       break;
+    1151             :     }
+    1152             : 
+    1153             :     // handle altitude estimators
+    1154      111621 :     case EstimatorType_t::ALTITUDE: {
+    1155             : 
+    1156      111621 :       switch (state_id_) {
+    1157             : 
+    1158      111621 :         case StateId_t::POSITION: {
+    1159      111621 :           measurement_t measurement;
+    1160      111621 :           measurement(0) = msg->point.z;
+    1161      111621 :           return measurement;
+    1162             :           break;
+    1163             :         }
+    1164             : 
+    1165           0 :         default: {
+    1166           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1167           0 :           return {};
+    1168             :         }
+    1169             :       }
+    1170             :       break;
+    1171             :     }
+    1172             : 
+    1173           0 :     default: {
+    1174           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1175           0 :       return {};
+    1176             :     }
+    1177             :   }
+    1178             : 
+    1179             : 
+    1180             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1181             :   return {};
+    1182             : }
+    1183             : /*//}*/
+    1184             : 
+    1185             : /*//{ callbackVector() */
+    1186             : template <int n_measurements>
+    1187      120960 : void Correction<n_measurements>::callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+    1188             : 
+    1189      120960 :   if (!is_initialized_) {
+    1190           0 :     return;
+    1191             :   }
+    1192             : 
+    1193      120960 :   auto res = getCorrectionFromVector(msg);
+    1194      120960 :   if (res) {
+    1195      120945 :     applyCorrection(res.value(), msg->header.stamp);
+    1196             :   }
+    1197             : }
+    1198             : /*//}*/
+    1199             : 
+    1200             : /*//{ getCorrectionFromVector() */
+    1201             : template <int n_measurements>
+    1202      121012 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromVector(
+    1203             :     const geometry_msgs::Vector3StampedConstPtr msg) {
+    1204             : 
+    1205      121012 :   switch (est_type_) {
+    1206             : 
+    1207             :     // handle lateral estimators
+    1208        4568 :     case EstimatorType_t::LATERAL: {
+    1209             : 
+    1210        4568 :       switch (state_id_) {
+    1211             : 
+    1212        4568 :         case StateId_t::VELOCITY: {
+    1213        4568 :           auto res = getVelInFrame(msg->vector, msg->header, ns_frame_id_ + "_att_only");
+    1214        4568 :           if (res) {
+    1215        4548 :             measurement_t measurement;
+    1216        4548 :             measurement = res.value();
+    1217        4548 :             return measurement;
+    1218             :           } else {
+    1219          20 :             return {};
+    1220             :           }
+    1221             :           break;
+    1222             :         }
+    1223             : 
+    1224           0 :         default: {
+    1225           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1226           0 :           return {};
+    1227             :         }
+    1228             :       }
+    1229             :       break;
+    1230             :     }
+    1231             : 
+    1232             :     // handle altitude estimators
+    1233      116444 :     case EstimatorType_t::ALTITUDE: {
+    1234             : 
+    1235      116444 :       switch (state_id_) {
+    1236             : 
+    1237      116444 :         case StateId_t::VELOCITY: {
+    1238      116444 :           auto res = getZVelUntilted(msg->vector, msg->header);
+    1239      116444 :           if (res) {
+    1240      116443 :             measurement_t measurement;
+    1241      116443 :             measurement = res.value();
+    1242      116443 :             return measurement;
+    1243             :           } else {
+    1244           1 :             return {};
+    1245             :           }
+    1246             :           break;
+    1247             :         }
+    1248             : 
+    1249           0 :         default: {
+    1250           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1251           0 :           return {};
+    1252             :         }
+    1253             :       }
+    1254             :       break;
+    1255             :     }
+    1256             : 
+    1257             :     // handle heading estimators
+    1258           0 :     case EstimatorType_t::HEADING: {
+    1259             : 
+    1260           0 :       switch (state_id_) {
+    1261             : 
+    1262           0 :           case StateId_t::VELOCITY: {
+    1263             :             try {
+    1264           0 :               if (!sh_orientation_.hasMsg()) {
+    1265           0 :               ROS_INFO_THROTTLE(1.0, "[%s]: %s orientation on topic: %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), orientation_topic_.c_str());
+    1266           0 :                 return {};
+    1267             :               }
+    1268           0 :               measurement_t measurement;
+    1269           0 :               measurement(0) = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+    1270           0 :               return measurement;
+    1271             :             }
+    1272           0 :             catch (...) {
+    1273           0 :               ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromVector())", getPrintName().c_str());
+    1274           0 :               return {};
+    1275             :             }
+    1276             :             break;
+    1277             :           }
+    1278             : 
+    1279           0 :         default: {
+    1280           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1281           0 :           return {};
+    1282             :         }
+    1283             :       }
+    1284             :       break;
+    1285             :     }
+    1286             :   }
+    1287             : 
+    1288           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1289           0 :   return {};
+    1290             : }
+    1291             : /*//}*/
+    1292             : 
+    1293             : /*//{ getCorrectionFromQuat() */
+    1294             : template <int n_measurements>
+    1295           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromQuat(
+    1296             :     const geometry_msgs::QuaternionStampedConstPtr msg) {
+    1297             : 
+    1298           0 :   switch (est_type_) {
+    1299             : 
+    1300             :       // handle lateral estimators
+    1301             :       /* case EstimatorType_t::LATERAL: { */
+    1302             : 
+    1303             :       /*   default: { */
+    1304             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1305             :       /*     return {}; */
+    1306             :       /*   } break; */
+    1307             :       /* } */
+    1308             : 
+    1309             :       /* // handle altitude estimators */
+    1310             :       /* case EstimatorType_t::ALTITUDE: { */
+    1311             : 
+    1312             :       /* default: { */
+    1313             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1314             :       /*     return {}; */
+    1315             :       /*   } break; */
+    1316             :       /* } */
+    1317             : 
+    1318             :       /* // handle heading estimators */
+    1319             :       /* case EstimatorType_t::HEADING: { */
+    1320             : 
+    1321             :       /*   switch (state_id_) { */
+    1322             : 
+    1323             :       /*     /1* default: { *1/ */
+    1324             :       /*       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1325             :       /*       return {}; */
+    1326             :       /*     } */
+    1327             :       /*   } */
+    1328             :     default: {
+    1329           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1330           0 :       return {};
+    1331             :     }
+    1332             :   }
+    1333             : 
+    1334             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1335             :   return {};
+    1336             : }
+    1337             : /*//}*/
+    1338             : 
+    1339             : /*//{ applyCorrection() */
+    1340             : template <int n_measurements>
+    1341      452522 : void Correction<n_measurements>::applyCorrection(const measurement_t& meas, const ros::Time& stamp) {
+    1342             : 
+    1343             :   {
+    1344      452522 :     std::scoped_lock lock(mtx_msg_time_);
+    1345      452511 :     if (first_timestamp_) {
+    1346         174 :       prev_msg_time_   = stamp - ros::Duration(0.01);
+    1347         174 :       msg_time_        = stamp;
+    1348         174 :       healthy_time_    = ros::Time(0);
+    1349         174 :       first_timestamp_ = false;
+    1350             :     }
+    1351             : 
+    1352      452508 :     prev_msg_time_ = msg_time_;
+    1353      452508 :     msg_time_      = stamp;
+    1354      452508 :     healthy_time_ += msg_time_ - prev_msg_time_;
+    1355             :   }
+    1356             : 
+    1357      452468 :   MeasurementStamped meas_stamped;
+    1358      452424 :   meas_stamped.value = meas;
+    1359      452446 :   meas_stamped.stamp = stamp;
+    1360      452446 :   publishCorrection(meas_stamped, ph_correction_raw_);
+    1361      452515 :   if (process(meas_stamped.value)) {
+    1362      452333 :     publishCorrection(meas_stamped, ph_correction_proc_);
+    1363      452453 :     fun_apply_correction_(meas_stamped, getR(), getStateId());
+    1364             :   }
+    1365      452297 : }
+    1366             : /*//}*/
+    1367             : 
+    1368             : /* //{ callbackToggleRange() */
+    1369             : template <int n_measurements>
+    1370           0 : bool Correction<n_measurements>::callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1371             : 
+    1372           0 :   if (!is_initialized_) {
+    1373           0 :     return false;
+    1374             :   }
+    1375             : 
+    1376           0 :   if (!range_enabled_ && req.data) {
+    1377           0 :     processors_["saturate"]->toggle(true);
+    1378             :   }
+    1379             : 
+    1380           0 :   range_enabled_ = req.data;
+    1381             : 
+    1382             :   // after enabling range we want to start correcting the altitude slowly
+    1383             : 
+    1384           0 :   res.success = true;
+    1385           0 :   res.message = (range_enabled_ ? "Range enabled" : "Range disabled");
+    1386             : 
+    1387           0 :   if (range_enabled_) {
+    1388             : 
+    1389           0 :     ROS_INFO("[%s]: Range enabled.", getPrintName().c_str());
+    1390             : 
+    1391             :   } else {
+    1392             : 
+    1393           0 :     ROS_INFO("[%s]: Range disabled", getPrintName().c_str());
+    1394             :   }
+    1395             : 
+    1396           0 :   return true;
+    1397             : }
+    1398             : 
+    1399             : //}
+    1400             : 
+    1401             : /*//{ getZVelUntilted() */
+    1402             : template <int n_measurements>
+    1403      116444 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getZVelUntilted(const geometry_msgs::Vector3& msg,
+    1404             :                                                                                                               const std_msgs::Header&       header) {
+    1405             : 
+    1406             :   // untilt the desired vector
+    1407      232888 :   geometry_msgs::PointStamped vel;
+    1408      116444 :   vel.point.x = msg.x;
+    1409      116444 :   vel.point.y = msg.y;
+    1410      116444 :   vel.point.z = msg.z;
+    1411      116444 :   vel.header  = header;
+    1412             :   /* vel.header.frame_id = ch_->frames.ns_fcu; */
+    1413      116444 :   vel.header.stamp = header.stamp;
+    1414             : 
+    1415      232888 :   auto res = ch_->transformer->transformSingle(vel, ch_->frames.ns_fcu_untilted);
+    1416      116444 :   if (res) {
+    1417      116443 :     measurement_t measurement;
+    1418      116443 :     measurement(0) = res.value().point.z;
+    1419      116443 :     return measurement;
+    1420             :   } else {
+    1421           1 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform from %s to %s failed", getPrintName().c_str(), vel.header.frame_id.c_str(), ch_->frames.ns_fcu_untilted.c_str());
+    1422           1 :     return {};
+    1423             :   }
+    1424             : }
+    1425             : /*//}*/
+    1426             : 
+    1427             : /*//{ getVelInFrame() */
+    1428             : template <int n_measurements>
+    1429        4568 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getVelInFrame(const geometry_msgs::Vector3& vel_in,
+    1430             :                                                                                                             const std_msgs::Header&       source_header,
+    1431             :                                                                                                             const std::string             target_frame) {
+    1432             : 
+    1433        4568 :   measurement_t measurement;
+    1434             : 
+    1435        9136 :   geometry_msgs::Vector3Stamped vel;
+    1436        4568 :   vel.header = source_header;
+    1437        4568 :   vel.vector = vel_in;
+    1438             :   /* body.vector.x = vel.x; */
+    1439             :   /* body.vector.y = vel.y; */
+    1440             :   /* body.vector.z = vel.z; */
+    1441             : 
+    1442        9136 :   geometry_msgs::Vector3Stamped transformed_vel;
+    1443        9136 :   auto                          res = ch_->transformer->transformSingle(vel, target_frame);
+    1444        4568 :   if (res) {
+    1445        4548 :     transformed_vel = res.value();
+    1446        4548 :     measurement(0)  = transformed_vel.vector.x;
+    1447        4548 :     measurement(1)  = transformed_vel.vector.y;
+    1448        4548 :     return measurement;
+    1449             :   } else {
+    1450          20 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform of velocity from %s to %s failed.", getPrintName().c_str(), vel.header.frame_id.c_str(), target_frame.c_str());
+    1451          20 :     return {};
+    1452             :   }
+    1453             : }
+    1454             : /*//}*/
+    1455             : 
+    1456             : /*//{ transformRtkToFcu() */
+    1457             : template <int n_measurements>
+    1458        2044 : std::optional<geometry_msgs::Pose> Correction<n_measurements>::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+    1459             : 
+    1460        4088 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+    1461             : 
+    1462             :   // inject current orientation into rtk pose
+    1463        4088 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+    1464        2044 :   if (res1) {
+    1465        2044 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+    1466             :   } else {
+    1467           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s. Not using this correction.", getPrintName().c_str(),
+    1468             :                        ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+    1469           0 :     return {};
+    1470             :   }
+    1471             : 
+    1472             :   // invert tf
+    1473        2044 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+    1474        4088 :   geometry_msgs::PoseStamped utm_in_antenna;
+    1475        2044 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+    1476        2044 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+    1477        2044 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+    1478             : 
+    1479             :   // transform to fcu
+    1480        4088 :   geometry_msgs::PoseStamped utm_in_fcu;
+    1481        2044 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+    1482        2044 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+    1483        4088 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+    1484             : 
+    1485        2044 :   if (res2) {
+    1486        2044 :     utm_in_fcu = res2.value();
+    1487             :   } else {
+    1488           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform pose to %s. Not using this correction.", getPrintName().c_str(), ch_->frames.ns_fcu.c_str());
+    1489           0 :     return {};
+    1490             :   }
+    1491             : 
+    1492             :   // invert tf
+    1493        2044 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+    1494        2044 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+    1495             : 
+    1496        2044 :   return fcu_in_utm;
+    1497             : }
+    1498             : /*//}*/
+    1499             : 
+    1500             : /*//{ getAvgRtkInitZ() */
+    1501             : template <int n_measurements>
+    1502          22 : void Correction<n_measurements>::getAvgRtkInitZ(const double rtk_z) {
+    1503             : 
+    1504          22 :   if (!got_avg_init_rtk_z_) {
+    1505             : 
+    1506          22 :     double rtk_avg = rtk_init_z_avg_ / got_rtk_counter_;
+    1507             : 
+    1508          22 :     if (got_rtk_counter_ < 10 || (got_rtk_counter_ < 300 && std::fabs(rtk_z - rtk_avg) > 0.1)) {
+    1509             : 
+    1510          20 :       rtk_init_z_avg_ += rtk_z;
+    1511          20 :       got_rtk_counter_++;
+    1512          20 :       rtk_avg = rtk_init_z_avg_ / got_rtk_counter_;
+    1513          20 :       ROS_INFO("[%s]: RTK ASL altitude sample #%d: %.2f; avg: %.2f", getPrintName().c_str(), got_rtk_counter_, rtk_z, rtk_avg);
+    1514          20 :       return;
+    1515             : 
+    1516             :     } else {
+    1517             : 
+    1518           2 :       rtk_init_z_avg_     = rtk_avg;
+    1519           2 :       got_avg_init_rtk_z_ = true;
+    1520           2 :       ROS_INFO("[%s]: RTK ASL altitude avg: %f", getPrintName().c_str(), rtk_avg);
+    1521             :     }
+    1522             :   }
+    1523             : }
+    1524             : /*//}*/
+    1525             : 
+    1526             : /*//{ checkMsgDelay() */
+    1527             : template <int n_measurements>
+    1528             : void Correction<n_measurements>::checkMsgDelay(const ros::Time& msg_time) {
+    1529             : 
+    1530             :   const double delay = (ros::Time::now() - msg_time).toSec();
+    1531             :   if (delay > msg_delay_warn_limit_) {
+    1532             :     if (delay > msg_delay_limit_) {
+    1533             :       ROS_ERROR_THROTTLE(1.0, "[%s]: message too delayed (%.4f s)", getPrintName().c_str(), delay);
+    1534             :       is_delay_ok_ = false;
+    1535             :     } else {
+    1536             :       ROS_WARN_THROTTLE(5.0, "[%s]: message delayed (%.4f s)", getPrintName().c_str(), delay);
+    1537             :       is_delay_ok_ = true;
+    1538             :     }
+    1539             :   } else {
+    1540             :     is_delay_ok_ = true;
+    1541             :   }
+    1542             :   publishDelay(delay);
+    1543             : }
+    1544             : /*//}*/
+    1545             : 
+    1546             : /*//{ isTimestampOk() */
+    1547             : template <int n_measurements>
+    1548             : bool Correction<n_measurements>::isTimestampOk() {
+    1549             : 
+    1550             :   if (first_timestamp_) {
+    1551             :     return true;
+    1552             :   }
+    1553             : 
+    1554             :   ros::Time msg_time, prev_msg_time;
+    1555             :   {
+    1556             :     std::scoped_lock lock(mtx_msg_time_);
+    1557             :     msg_time      = msg_time_;
+    1558             :     prev_msg_time = prev_msg_time_;
+    1559             :   }
+    1560             :   const double delta = msg_time.toSec() - prev_msg_time.toSec();
+    1561             : 
+    1562             :   if (msg_time.toSec() <= 0.0) {
+    1563             :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    1564             :     return false;
+    1565             :   }
+    1566             : 
+    1567             :   if (delta <= 0.0) {
+    1568             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta non-positive: %f", getPrintName().c_str(), delta);
+    1569             :     return true;
+    1570             :   }
+    1571             : 
+    1572             :   if (delta < 0.001) {
+    1573             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta too small: %f", getPrintName().c_str(), delta);
+    1574             :     return true;
+    1575             :   }
+    1576             : 
+    1577             :   if (delta > time_since_last_msg_limit_) {
+    1578             :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    1579             :     return false;
+    1580             :   }
+    1581             : 
+    1582             :   return true;
+    1583             : }  // namespace mrs_uav_state_estimators
+    1584             : /*//}*/
+    1585             : 
+    1586             : /*//{ isMsgComing() */
+    1587             : template <int n_measurements>
+    1588      193942 : bool Correction<n_measurements>::isMsgComing() {
+    1589             : 
+    1590      193942 :   const ros::Time msg_time = mrs_lib::get_mutexed(mtx_msg_time_, msg_time_);
+    1591      193883 :   const double    delta    = ros::Time::now().toSec() - msg_time.toSec();
+    1592             : 
+    1593      193856 :   if (msg_time.toSec() <= 0.0) {
+    1594           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    1595           0 :     return false;
+    1596             :   }
+    1597             : 
+    1598      193798 :   if (delta > time_since_last_msg_limit_) {
+    1599           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    1600           0 :     return false;
+    1601             :   }
+    1602             : 
+    1603      193798 :   return true;
+    1604             : }  // namespace mrs_uav_state_estimators
+    1605             : /*//}*/
+    1606             : 
+    1607             : /*//{ createProcessorFromName() */
+    1608             : template <int n_measurements>
+    1609          49 : std::shared_ptr<Processor<n_measurements>> Correction<n_measurements>::createProcessorFromName(const std::string& name, ros::NodeHandle& nh) {
+    1610             : 
+    1611          49 :   if (name == "median_filter") {
+    1612           1 :     return std::make_shared<ProcMedianFilter<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1613          48 :   } else if (name == "saturate") {
+    1614           5 :     return std::make_shared<ProcSaturate<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_, state_id_, fun_get_state_);
+    1615          43 :   } else if (name == "excessive_tilt") {
+    1616           1 :     return std::make_shared<ProcExcessiveTilt<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1617          42 :   } else if (name == "tf_to_world") {
+    1618          42 :     return std::make_shared<ProcTfToWorld<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1619             :   } else {
+    1620           0 :     ROS_ERROR("[%s]: requested invalid processor %s", getPrintName().c_str(), name.c_str());
+    1621           0 :     ros::shutdown();
+    1622             :   }
+    1623           0 :   return std::shared_ptr<Processor<n_measurements>>(nullptr);
+    1624             : }
+    1625             : /*//}*/
+    1626             : 
+    1627             : /*//{ process() */
+    1628             : template <int n_measurements>
+    1629      452709 : bool Correction<n_measurements>::process(Correction<n_measurements>::measurement_t& measurement) {
+    1630             : 
+    1631      452709 :   bool ok_flag   = true;
+    1632      452709 :   bool fuse_flag = true;
+    1633             : 
+    1634      575033 :   for (auto proc_name :
+    1635             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    1636             :     /* bool is_ok, should_fuse; */
+    1637      122324 :     auto [is_ok, should_fuse] = processors_[proc_name]->process(measurement);
+    1638      122324 :     ok_flag &= is_ok;
+    1639      122324 :     fuse_flag &= should_fuse;
+    1640             :   }
+    1641      452697 :   if (fuse_flag) {
+    1642      452598 :     if (!ok_flag) {
+    1643           0 :       setR(default_R_ * R_coeff_);
+    1644           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: set R to %.4f", getPrintName().c_str(), default_R_ * R_coeff_);
+    1645           0 :       return true;
+    1646             :     } else {
+    1647      452598 :       setR(default_R_);
+    1648      452554 :       return true;
+    1649             :     }
+    1650             :   }
+    1651          99 :   return false;
+    1652             : }
+    1653             : /*//}*/
+    1654             : 
+    1655             : /*//{ resetProcessors() */
+    1656             : template <int n_measurements>
+    1657           0 : void Correction<n_measurements>::resetProcessors() {
+    1658             : 
+    1659           0 :   for (auto proc_name :
+    1660             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    1661             :     /* bool is_ok, should_fuse; */
+    1662           0 :     processors_[proc_name]->reset();
+    1663             :   }
+    1664           0 : }
+    1665             : /*//}*/
+    1666             : 
+    1667             : /*//{ publishCorrection() */
+    1668             : template <int n_measurements>
+    1669      905169 : void Correction<n_measurements>::publishCorrection(const MeasurementStamped&                                 measurement_stamped,
+    1670             :                                                    mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr) {
+    1671             : 
+    1672      905169 :   if (!ch_->debug_topics.correction) {
+    1673           0 :     return;
+    1674             :   }
+    1675             : 
+    1676     1810623 :   mrs_msgs::EstimatorCorrection msg;
+    1677      905079 :   msg.header.stamp    = measurement_stamped.stamp;
+    1678      905079 :   msg.header.frame_id = ns_frame_id_;
+    1679      905336 :   msg.name            = name_;
+    1680      905350 :   msg.estimator_name  = est_name_;
+    1681      905363 :   msg.state_id        = state_id_;
+    1682      905363 :   msg.covariance.resize(n_measurements * n_measurements);
+    1683     2048988 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+    1684     1144067 :     msg.state.push_back(measurement_stamped.value(i));
+    1685     1144168 :     msg.covariance[n_measurements * i + i] = getR();
+    1686             :   }
+    1687             : 
+    1688      904700 :   ph_corr.publish(msg);
+    1689             : }
+    1690             : /*//}*/
+    1691             : 
+    1692             : /*//{ publishDelay() */
+    1693             : template <int n_measurements>
+    1694             : void Correction<n_measurements>::publishDelay(const double delay) {
+    1695             : 
+    1696             :   if (!ch_->debug_topics.corr_delay) {
+    1697             :     return;
+    1698             :   }
+    1699             : 
+    1700             :   mrs_msgs::Float64Stamped msg;
+    1701             :   msg.header.stamp    = ros::Time::now();
+    1702             :   msg.header.frame_id = ns_frame_id_;
+    1703             :   msg.value           = delay;
+    1704             : 
+    1705             :   ph_delay_.publish(msg);
+    1706             : }
+    1707             : /*//}*/
+    1708             : 
+    1709             : }  // namespace mrs_uav_state_estimators
+    1710             : 
+    1711             : #endif  // ESTIMATORS_CORRECTION_H
+
+
+
+ + + + +
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2023-12-06 10:06:33Functions:030.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::HdgGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric()0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric().20
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func.html new file mode 100644 index 0000000000..42da768c0c --- /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:2023-12-06 10:06:33Functions: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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+
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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..dbed7c671a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html @@ -0,0 +1,240 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2023-12-06 10:06:33Functions:030.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_HEADING_HDG_GENERIC_H
+       2             : #define ESTIMATORS_HEADING_HDG_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/repredictor.h>
+      12             : #include <mrs_lib/profiler.h>
+      13             : #include <mrs_lib/param_loader.h>
+      14             : #include <mrs_lib/subscribe_handler.h>
+      15             : #include <mrs_lib/geometry/cyclic.h>
+      16             : 
+      17             : #include <mrs_uav_state_estimators/estimators/heading/heading_estimator.h>
+      18             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/HeadingEstimatorConfig.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_state_estimators
+      25             : {
+      26             : 
+      27             : namespace hdg_generic
+      28             : {
+      29             : 
+      30             : const int n_states       = 2;
+      31             : const int n_inputs       = 1;
+      32             : const int n_measurements = 1;
+      33             : 
+      34             : }  // namespace hdg_generic
+      35             : 
+      36             : class HdgGeneric : public HeadingEstimator<hdg_generic::n_states> {
+      37             : 
+      38             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      39             : 
+      40             :   typedef mrs_lib::DynamicReconfigureMgr<HeadingEstimatorConfig> drmgr_t;
+      41             : 
+      42             :   using lkf_t      = mrs_lib::LKF<hdg_generic::n_states, hdg_generic::n_inputs, hdg_generic::n_measurements>;
+      43             :   using A_t        = lkf_t::A_t;
+      44             :   using B_t        = lkf_t::B_t;
+      45             :   using H_t        = lkf_t::H_t;
+      46             :   using Q_t        = lkf_t::Q_t;
+      47             :   using x_t        = lkf_t::x_t;
+      48             :   using P_t        = lkf_t::P_t;
+      49             :   using u_t        = lkf_t::u_t;
+      50             :   using z_t        = lkf_t::z_t;
+      51             :   using R_t        = lkf_t::R_t;
+      52             :   using statecov_t = lkf_t::statecov_t;
+      53             : 
+      54             :   typedef mrs_lib::Repredictor<lkf_t> rep_lkf_t;
+      55             : 
+      56             :   using StateId_t = mrs_uav_managers::estimation_manager::StateId_t;
+      57             : 
+      58             : private:
+      59             :   std::string parent_state_est_name_;
+      60             : 
+      61             :   double                              dt_;
+      62             :   double                              input_coeff_;
+      63             :   double                              default_input_coeff_;
+      64             :   A_t                                 A_;
+      65             :   B_t                                 B_;
+      66             :   H_t                                 H_;
+      67             :   Q_t                                 Q_;
+      68             :   std::shared_ptr<lkf_t>              lkf_;
+      69             :   std::unique_ptr<rep_lkf_t>          lkf_rep_;
+      70             :   std::vector<std::shared_ptr<lkf_t>> models_;
+      71             :   mutable std::mutex                  mutex_lkf_;
+      72             :   statecov_t                          sc_;
+      73             :   mutable std::mutex                  mutex_sc_;
+      74             : 
+      75             :   std::unique_ptr<drmgr_t> drmgr_;
+      76             :   void                     callbackReconfigure(HeadingEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      77             : 
+      78             :   z_t                innovation_;
+      79             :   mutable std::mutex mtx_innovation_;
+      80             : 
+      81             :   bool is_repredictor_enabled_;
+      82             :   int  rep_buffer_size_ = 200;
+      83             : 
+      84             :   const bool is_core_plugin_;
+      85             : 
+      86             :   std::vector<std::string>                                              correction_names_;
+      87             :   std::vector<std::shared_ptr<Correction<hdg_generic::n_measurements>>> corrections_;
+      88             : 
+      89             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      90             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      91             :   std::atomic<bool>                                   is_input_ready_ = false;
+      92             : 
+      93             :   ros::Timer timer_update_;
+      94             :   void       timerUpdate(const ros::TimerEvent &event);
+      95             : 
+      96             :   ros::Timer timer_check_health_;
+      97             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      98             : 
+      99             :   void doCorrection(const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     100             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     101             : 
+     102             :   bool isConverged();
+     103             : 
+     104             :   Q_t                getQ();
+     105             :   mutable std::mutex mtx_Q_;
+     106             : 
+     107             :   mutable std::mutex mutex_last_valid_hdg_;
+     108             :   double             last_valid_hdg_;
+     109             : 
+     110             : public:
+     111           0 :   HdgGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     112           0 :       : HeadingEstimator<hdg_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     113           0 :   }
+     114             : 
+     115           0 :   ~HdgGeneric(void) {
+     116           0 :   }
+     117             : 
+     118             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     119             :   bool start(void) override;
+     120             :   bool pause(void) override;
+     121             :   bool reset(void) override;
+     122             : 
+     123             :   double getState(const int &state_idx_in) const override;
+     124             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     125             : 
+     126             :   void setState(const double &state_in, const int &state_idx_in) override;
+     127             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     128             : 
+     129             :   states_t getStates(void) const override;
+     130             :   void     setStates(const states_t &states_in) override;
+     131             : 
+     132             :   double getCovariance(const int &state_idx_in) const override;
+     133             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     134             : 
+     135             :   covariance_t getCovarianceMatrix(void) const override;
+     136             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     137             : 
+     138             :   double getInnovation(const int &state_idx) const override;
+     139             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     140             : 
+     141             :   double getLastValidHdg() const override;
+     142             : 
+     143             :   void setDt(const double &dt);
+     144             :   void setInputCoeff(const double &input_coeff);
+     145             : 
+     146             :   void generateA();
+     147             :   void generateB();
+     148             : 
+     149             : 
+     150             :   std::string getNamespacedName() const;
+     151             : 
+     152             :   std::string getPrintName() const;
+     153             : };
+     154             : }  // namespace mrs_uav_state_estimators
+     155             : 
+     156             : #endif  // ESTIMATORS_HEADING_HDG_GENERIC_H
+
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Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..184fcd89b0f359d12d16f08ceb9b076b8700fff8 GIT binary patch literal 655 zcmV;A0&x9_P)0{{R38Wk~70000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpSTPn!rauAj>G z&`{Epo6QEOh>?TlaS6n$y7Q}{^By{A + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions: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)44
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()44
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().244
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.func.html new file mode 100644 index 0000000000..fce7a3eecc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgPassthrough::HdgPassthrough(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)44
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()44
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().244
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.frameset.html new file mode 100644 index 0000000000..b8c92e1d37 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.html new file mode 100644 index 0000000000..0af23afb3b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.html @@ -0,0 +1,191 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions: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          44 :   HdgPassthrough(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      70          44 :       : HeadingEstimator<hdg_passthrough::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+      71          44 :   }
+      72             : 
+      73          88 :   ~HdgPassthrough(void) {
+      74          88 :   }
+      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..d0d4db7654 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func-sort-c.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - heading_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22100.0 %
Date:2023-12-06 10:06:33Functions: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&)44
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func.html new file mode 100644 index 0000000000..3b6852997a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - heading_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22100.0 %
Date:2023-12-06 10:06:33Functions: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&)44
+
+
+ + + +
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..b3b34ef1ab --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - heading_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22100.0 %
Date:2023-12-06 10:06:33Functions: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          44 :   HeadingEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(heading::type, name, frame_id) {
+      23          44 :   }
+      24             : 
+      25             :   mutable std::mutex mutex_last_valid_hdg_;
+      26             :   double             last_valid_hdg_;
+      27             : 
+      28             : private:
+      29             :   static const int _n_axes_   = 1;
+      30             :   static const int _n_states_ = n_states;
+      31             :   static const int _n_inputs_;
+      32             :   static const int _n_measurements_;
+      33             : 
+      34             : public:
+      35             :   virtual double getLastValidHdg() const = 0;
+      36             : };
+      37             : 
+      38             : }  // namespace mrs_uav_state_estimators
+      39             : 
+      40             : #endif  // ESTIMATORS_HEADING_HEADING_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..4cc90f7128 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.overview.html @@ -0,0 +1,30 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3fa1a030f3bdb9d4e5e4354fd133a23a3d84dca9 GIT binary patch literal 293 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$5!VDy5`z06wDTx4|5ZC|z|E~gq#sJy z_!d=lu%pyiZdT`(8i5lD0#}Z_-Sjn9u0vVe{n2K}X{;w7Y_kv6QkQ>GW1X*;rZGj% iUS^U*{*!sPE144yXqeA-@c#>RK7*&LpUXO@geCwTJ$YaN literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-f.html new file mode 100644 index 0000000000..a049239d5f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-f.html @@ -0,0 +1,138 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2023-12-06 10:06:33Functions: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..14e1358a4f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-l.html @@ -0,0 +1,138 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2023-12-06 10:06:33Functions: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..a4444ef47e --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail.html @@ -0,0 +1,138 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2023-12-06 10:06:33Functions: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..73d3fa747a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-sort-f.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2023-12-06 10:06:33Functions: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..ef4d3f30ab --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-sort-l.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2023-12-06 10:06:33Functions: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..702fb3e65f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2023-12-06 10:06:33Functions: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..4072829632 --- /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:40169158.0 %
Date:2023-12-06 10:06:33Functions:689174.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.0%56.0%
+ 		56.0 %367 / 65573.1 %49 / 67
<unnamed>56.0 %367 / 65573.1 %49 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
<unnamed>94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail-sort-l.html new file mode 100644 index 0000000000..be1bdaddda --- /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:40169158.0 %
Date:2023-12-06 10:06:33Functions:689174.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.0%56.0%
+ 		56.0 %367 / 65573.1 %49 / 67
<unnamed>56.0 %367 / 65573.1 %49 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
<unnamed>94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail.html new file mode 100644 index 0000000000..91eac32c3b --- /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:40169158.0 %
Date:2023-12-06 10:06:33Functions:689174.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.0%56.0%
+ 		56.0 %367 / 65573.1 %49 / 67
<unnamed>56.0 %367 / 65573.1 %49 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
<unnamed>94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-f.html new file mode 100644 index 0000000000..f1d64e0fd0 --- /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:40169158.0 %
Date:2023-12-06 10:06:33Functions:689174.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.0%56.0%
+ 		56.0 %367 / 65573.1 %49 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-l.html new file mode 100644 index 0000000000..7e926c0bc0 --- /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:40169158.0 %
Date:2023-12-06 10:06:33Functions:689174.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.0%56.0%
+ 		56.0 %367 / 65573.1 %49 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index.html new file mode 100644 index 0000000000..413dd1a723 --- /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:40169158.0 %
Date:2023-12-06 10:06:33Functions:689174.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.0%56.0%
+ 		56.0 %367 / 65573.1 %49 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-f.html new file mode 100644 index 0000000000..56db7c8bc0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-06 10:06:33Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
lat_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-l.html new file mode 100644 index 0000000000..1f31c599bb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-l.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-06 10:06:33Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
lat_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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lateral_estimator.h +
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Date:2023-12-06 10:06:33Functions:5683.3 %
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lateral_estimator.h +
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Date:2023-12-06 10:06:33Functions:5683.3 %
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lateral_estimator.h +
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lat_generic.h +
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Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2023-12-06 10:06:33Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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lat_generic.h +
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lateral_estimator.h +
100.0%
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions: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> ()>)44
mrs_uav_state_estimators::LatGeneric::~LatGeneric()44
mrs_uav_state_estimators::LatGeneric::~LatGeneric().244
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
Legend: Lines: + hit + not hit +
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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> ()>)44
mrs_uav_state_estimators::LatGeneric::~LatGeneric()44
mrs_uav_state_estimators::LatGeneric::~LatGeneric().244
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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..f3494e860d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html @@ -0,0 +1,244 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_LATERAL_LAT_GENERIC_H
+       2             : #define ESTIMATORS_LATERAL_LAT_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <sensor_msgs/Imu.h>
+      11             : 
+      12             : #include <mrs_lib/lkf.h>
+      13             : #include <mrs_lib/repredictor.h>
+      14             : #include <mrs_lib/profiler.h>
+      15             : #include <mrs_lib/param_loader.h>
+      16             : #include <mrs_lib/subscribe_handler.h>
+      17             : 
+      18             : #include <mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h>
+      19             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      20             : 
+      21             : #include <mrs_uav_state_estimators/LateralEstimatorConfig.h>
+      22             : 
+      23             : //}
+      24             : 
+      25             : namespace mrs_uav_state_estimators
+      26             : {
+      27             : 
+      28             : namespace lat_generic
+      29             : {
+      30             : 
+      31             : const int n_states       = 6;
+      32             : const int n_inputs       = 2;
+      33             : const int n_measurements = 2;
+      34             : 
+      35             : }  // namespace lat_generic
+      36             : 
+      37             : class LatGeneric : public LateralEstimator<lat_generic::n_states> {
+      38             : 
+      39             :   typedef mrs_lib::DynamicReconfigureMgr<LateralEstimatorConfig> drmgr_t;
+      40             : 
+      41             :   using lkf_t      = mrs_lib::LKF<lat_generic::n_states, lat_generic::n_inputs, lat_generic::n_measurements>;
+      42             :   using A_t        = lkf_t::A_t;
+      43             :   using B_t        = lkf_t::B_t;
+      44             :   using H_t        = lkf_t::H_t;
+      45             :   using Q_t        = lkf_t::Q_t;
+      46             :   using x_t        = lkf_t::x_t;
+      47             :   using P_t        = lkf_t::P_t;
+      48             :   using u_t        = lkf_t::u_t;
+      49             :   using z_t        = lkf_t::z_t;
+      50             :   using R_t        = lkf_t::R_t;
+      51             :   using statecov_t = lkf_t::statecov_t;
+      52             : 
+      53             :   typedef mrs_lib::Repredictor<lkf_t> rep_lkf_t;
+      54             : 
+      55             : private:
+      56             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      57             : 
+      58             :   std::string parent_state_est_name_;
+      59             : 
+      60             :   double                              dt_;
+      61             :   double                              input_coeff_, default_input_coeff_;
+      62             :   A_t                                 A_;
+      63             :   B_t                                 B_;
+      64             :   H_t                                 H_;
+      65             :   Q_t                                 Q_;
+      66             :   std::shared_ptr<lkf_t>              lkf_;
+      67             :   std::unique_ptr<rep_lkf_t>          lkf_rep_;
+      68             :   std::vector<std::shared_ptr<lkf_t>> models_;
+      69             :   mutable std::mutex                  mutex_lkf_;
+      70             :   statecov_t                          sc_;
+      71             :   mutable std::mutex                  mutex_sc_;
+      72             : 
+      73             :   std::unique_ptr<drmgr_t> drmgr_;
+      74             :   void                     callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      75             : 
+      76             :   z_t                innovation_;
+      77             :   mutable std::mutex mtx_innovation_;
+      78             : 
+      79             :   bool is_error_state_first_time_ = true;
+      80             :   ros::Duration error_state_duration_;
+      81             :   ros::Time prev_time_in_error_state_;
+      82             : 
+      83             :   bool is_repredictor_enabled_;
+      84             :   int  rep_buffer_size_ = 200;
+      85             : 
+      86             :   const bool is_core_plugin_;
+      87             : 
+      88             :   std::vector<std::string>                                              correction_names_;
+      89             :   std::vector<std::shared_ptr<Correction<lat_generic::n_measurements>>> corrections_;
+      90             : 
+      91             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      92             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      93             :   std::atomic<bool>                                   is_input_ready_ = false;
+      94             : 
+      95             : 
+      96             :   std::function<std::optional<double>()>               fun_get_hdg_;
+      97             :   std::string                                          hdg_source_topic_;
+      98             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput> sh_hdg_state_;
+      99             :   std::atomic<bool>                                    is_hdg_state_ready_ = false;
+     100             : 
+     101             :   ros::Timer timer_update_;
+     102             :   void       timerUpdate(const ros::TimerEvent &event);
+     103             : 
+     104             :   ros::Timer timer_check_health_;
+     105             :   void       timerCheckHealth(const ros::TimerEvent &event);
+     106             : 
+     107             : 
+     108             :   void doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     109             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     110             : 
+     111             :   bool isConverged();
+     112             : 
+     113             :   Q_t                getQ();
+     114             :   mutable std::mutex mtx_Q_;
+     115             : 
+     116             : public:
+     117          44 :   LatGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin,
+     118             :              std::function<std::optional<double>()> fun_get_hdg)
+     119          44 :       : LateralEstimator<lat_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin), fun_get_hdg_(fun_get_hdg) {
+     120          44 :   }
+     121             : 
+     122          88 :   ~LatGeneric(void) {
+     123          88 :   }
+     124             : 
+     125             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     126             :   bool start(void) override;
+     127             :   bool pause(void) override;
+     128             :   bool reset(void) override;
+     129             : 
+     130             :   double getState(const int &state_idx_in) const override;
+     131             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     132             : 
+     133             :   void setState(const double &state_in, const int &state_idx_in) override;
+     134             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     135             : 
+     136             :   states_t getStates(void) const override;
+     137             :   void     setStates(const states_t &states_in) override;
+     138             : 
+     139             :   double getCovariance(const int &state_idx_in) const override;
+     140             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     141             : 
+     142             :   covariance_t getCovarianceMatrix(void) const override;
+     143             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     144             : 
+     145             :   double getInnovation(const int &state_idx) const override;
+     146             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     147             : 
+     148             :   void setDt(const double &dt);
+     149             :   void setInputCoeff(const double &input_coeff);
+     150             : 
+     151             :   void generateA();
+     152             :   void generateB();
+     153             : 
+     154             :   std::string getNamespacedName() const;
+     155             : 
+     156             :   std::string getPrintName() const;
+     157             : };
+     158             : }  // namespace mrs_uav_state_estimators
+     159             : 
+     160             : #endif  // ESTIMATORS_LATERAL_LAT_GENERIC_H
+
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Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..f922dc5e2df8de7ab7fe1ec72ccf6d7aab4af7d1 GIT binary patch literal 682 zcmV;b0#*HqP)#j#a4B1xM%6g0$cLW?W z{sYedbNSFLJhG;GaN>f2(D*bhtX%rik4O#+x40pXlovd;wa0_Wz8Os!R2G+BXPeS35%Z|eDxN8qorRp*|ALE; zf=R!COm2Vbs@H8l(IBJjM_ual^DbWv270Ul$W?%ycZ*XHjeCz1{SNtgQ{3z$)T)|Q z!1&z|@Q}{&&~0!N>0{qYqS=q7S+hT)Y>nc2C;Q3ASNwbDW4d-%w4Zll33eq5z*mcs zgu&ePx=iM5umB{bG4&Uuo40GcZuSgNfG}H3=YeJ`eS&?FYXS-oX-sQzO_~VP5GyZe zqdEf8cr9w)XZz_4w?#uHKX!YE=d}VXvYJ!}0*zt0hp@aBUM=|hx(4RJcZyF9Mic)= z)TB0kO-N;`!^KE7#%ZaTfeX^Ugy2`#$CMHJzM6H!zwDkT`*zVaomlbn7roo7qWsP3 Qf&c&j07*qoM6N<$f<09`?EnA( literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func-sort-c.html new file mode 100644 index 0000000000..2c140124fe --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::LateralEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)44
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().244
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html new file mode 100644 index 0000000000..a981e7081a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LateralEstimator<6>::LateralEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)44
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().244
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..421acedc4b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.html new file mode 100644 index 0000000000..f7298cf938 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2023-12-06 10:06:33Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_LATERAL_LATERAL_ESTIMATOR_H
+       2             : #define ESTIMATORS_LATERAL_LATERAL_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <mrs_uav_state_estimators/estimators/partial_estimator.h>
+       7             : 
+       8             : //}
+       9             : 
+      10             : namespace mrs_uav_state_estimators
+      11             : {
+      12             : 
+      13             : namespace lateral
+      14             : {
+      15             : const char type[] = "LATERAL";
+      16             : const int  n_axes = 2;
+      17             : }  // namespace lateral
+      18             : 
+      19             : template <int n_states>
+      20             : class LateralEstimator : public PartialEstimator<n_states, lateral::n_axes> {
+      21             : 
+      22             : protected:
+      23          44 :   LateralEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, lateral::n_axes>(lateral::type, name, frame_id) {
+      24          44 :   }
+      25             : 
+      26          44 :   ~LateralEstimator(void) {
+      27          44 :   }
+      28             : 
+      29             : private:
+      30             :   static const int _n_axes_   = lateral::n_axes;
+      31             :   static const int _n_states_ = n_states;
+      32             :   static const int _n_inputs_;
+      33             :   static const int _n_measurements_;
+      34             : };
+      35             : 
+      36             : }  // namespace mrs_uav_state_estimation
+      37             : 
+      38             : #endif  // ESTIMATORS_LATERAL_LATERAL_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..e5433d137d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html @@ -0,0 +1,30 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..463fd4e692090c58e2404f8d94bb0a27bf35e9a1 GIT binary patch literal 284 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$A!VDxAx-dEcDTx4|5ZC|z|E~gqo(Lf);IkB zKih&OP$28bu>u3%=xv5Up%7}X91nEC!(6qssq(S1+&l+1@+JxwXI-pyIterm(k zm#tmhJg2gI`;Ii4a?1#x-QnJ|iaF^W_vhMMmm^Nj4*76q=hq`i%l+g3ZEcx6r(A$z z@!KPZZk1oD-*7BGC5Pd7uj5YR+DC>{-?qhe>=g-rWL$nv%v)pLp`KFjGVv_k6V;t& ZA77ZC+PdV^7oe*dJYD@<);T3K0RRatb^`za literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html new file mode 100644 index 0000000000..1a5c441c87 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2023-12-06 10:06:33Functions:192479.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
void mrs_uav_state_estimators::PartialEstimator<2, 1>::publishInput<Eigen::Matrix<double, 1, 1, 0, 1, 1> >(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::PartialEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)44
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().244
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&)44
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().244
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&)84
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().284
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const3130
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&) const49661
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const49661
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const49661
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const49661
mrs_uav_state_estimators::PartialEstimator<2, 1>::publishOutput() const50001
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const50001
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const50001
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&) const91736
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const91927
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const91947
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const91959
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const830047
+
+
+ + + +
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..e397b18d1a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2023-12-06 10:06:33Functions:192479.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::PartialEstimator<2, 1>::PartialEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)44
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().244
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&)84
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 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&)44
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().244
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() const50001
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const50001
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const50001
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&) const91736
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const91947
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const3130
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const91959
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const91927
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&) const49661
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const49661
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const830047
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const49661
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const49661
+
+
+ + + +
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..25f7709cf0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.html @@ -0,0 +1,264 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2023-12-06 10:06:33Functions: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         172 :   PartialEstimator(const std::string &type, const std::string &name, const std::string &frame_id) : Estimator(type, name, frame_id) {
+      62         172 :   }
+      63             : 
+      64         172 :   ~PartialEstimator(void) {
+      65         172 :   }
+      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      191621 : std::vector<double> PartialEstimator<n_states, n_axes>::getStatesAsVector(void) const {
+     103      191621 :   const states_t      states = getStates();
+     104      191583 :   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      865358 :   for (int i = 0; i < states.size(); i++) {
+     109      673691 :     states_vec.push_back(states(i));
+     110             :   }
+     111      383136 :   return states_vec;
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ getCovarianceAsvector() */
+     116             : template <int n_states, int n_axes>
+     117      191589 : std::vector<double> PartialEstimator<n_states, n_axes>::getCovarianceAsVector(void) const {
+     118      191589 :   const covariance_t  covariance = getCovarianceMatrix();
+     119      191558 :   std::vector<double> covariance_vec;
+     120             :   /* for (auto cov : covariance.reshaped<Eigen::RowMajor>(covariance.size())) { */
+     121             :   /*   covariance_vec.push_back(*cov); */
+     122             :   /* } */
+     123      864951 :   for (int i = 0; i < covariance.rows(); i++) {
+     124     3487921 :     for (int j = 0; j < covariance.cols(); j++) {
+     125     2814232 :       covariance_vec.push_back(covariance(i, j));
+     126             :     }
+     127             :   }
+     128      383102 :   return covariance_vec;
+     129             : }
+     130             : /*//}*/
+     131             : 
+     132             : /*//{ stateIdToIndex() */
+     133             : template <int n_states, int n_axes>
+     134      833177 : int PartialEstimator<n_states, n_axes>::stateIdToIndex(const int &state_id_in, const int &axis_in) const {
+     135      833177 :   return state_id_in * _n_axes_ + axis_in;
+     136             : }
+     137             : /*//}*/
+     138             : 
+     139             : /*//{ publishOutput() */
+     140             : template <int n_states, int n_axes>
+     141      191609 : void PartialEstimator<n_states, n_axes>::publishOutput() const {
+     142             : 
+     143      191609 :   if (!ch_->debug_topics.output) {
+     144           0 :     return;
+     145             :   }
+     146             : 
+     147      383196 :   mrs_msgs::EstimatorOutput msg;
+     148      191572 :   msg.header.stamp    = ros::Time::now();
+     149      191622 :   msg.header.frame_id = getFrameId();
+     150      191613 :   msg.state           = getStatesAsVector();
+     151      191515 :   msg.covariance      = getCovarianceAsVector();
+     152             : 
+     153      191504 :   ph_output_.publish(msg);
+     154             : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ publishInput() */
+     158             : template <int n_states, int n_axes>
+     159             : template <typename u_t>
+     160      141397 : void PartialEstimator<n_states, n_axes>::publishInput(const u_t &u, const ros::Time& stamp) const {
+     161             : 
+     162      141397 :   if (!ch_->debug_topics.input) {
+     163           0 :     return;
+     164             :   }
+     165             : 
+     166      282292 :   mrs_msgs::Float64ArrayStamped msg;
+     167      140717 :   msg.header.stamp = stamp;
+     168      331604 :   for (int i = 0; i < u.rows(); i++) {
+     169      190200 :     msg.values.push_back(u(i));
+     170             :   }
+     171             : 
+     172      141062 :   ph_input_.publish(msg);
+     173             : }
+     174             : /*//}*/
+     175             : 
+     176             : /*//}*/
+     177             : 
+     178             : }  // namespace mrs_uav_state_estimators
+     179             : 
+     180             : #endif  // ESTIMATORS_PARTIAL_ESTIMATOR_H
+
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html new file mode 100644 index 0000000000..bf04eeb1cb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html new file mode 100644 index 0000000000..1247e62b9d --- /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:2023-12-06 10:06:33Functions:33100.0 %
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_STATE_PASSTHROUGH_H
+       2             : #define ESTIMATORS_STATE_PASSTHROUGH_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/state_estimator.h>
+      19             : 
+      20             : //}
+      21             : 
+      22             : namespace mrs_uav_state_estimators
+      23             : {
+      24             : 
+      25             : namespace passthrough
+      26             : {
+      27             : const char name[]         = "passthrough";
+      28             : const char frame_id[]     = "passthrough_origin";
+      29             : const char package_name[] = "mrs_uav_state_estimators";
+      30             : 
+      31             : const bool is_core_plugin = true;
+      32             : 
+      33             : using namespace mrs_uav_managers::estimation_manager;
+      34             : 
+      35             : class Passthrough : public mrs_uav_managers::StateEstimator {
+      36             : 
+      37             :   using CommonHandlers_t = mrs_uav_managers::estimation_manager::CommonHandlers_t;
+      38             : 
+      39             : private:
+      40             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      41             : 
+      42             :   const std::string est_lat_name_ = "lat_passthrough";
+      43             : 
+      44             :   const std::string est_alt_name_ = "alt_passthrough";
+      45             : 
+      46             :   const std::string est_hdg_name_ = "hdg_passthrough";
+      47             : 
+      48             :   const bool is_core_plugin_;
+      49             : 
+      50             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_passthrough_odom_;
+      51             :   double                                        _critical_timeout_passthrough_odom_;
+      52             :   std::string                                   msg_topic_;
+      53             : 
+      54             :   ros::Timer                 timer_update_;
+      55             :   void                       timerUpdate(const ros::TimerEvent &event);
+      56             :   nav_msgs::OdometryConstPtr prev_msg_;
+      57             :   bool                       first_iter_ = true;
+      58             :   ros::Timer                 timer_check_health_;
+      59             :   void                       timerCheckHealth(const ros::TimerEvent &event);
+      60             : 
+      61             :   bool isConverged();
+      62             : 
+      63             :   void waitForEstimationInitialization();
+      64             : 
+      65             : public:
+      66           3 :   Passthrough() : StateEstimator(passthrough::name, passthrough::frame_id, passthrough::package_name), is_core_plugin_(is_core_plugin) {
+      67           3 :   }
+      68             : 
+      69           6 :   ~Passthrough(void) {
+      70           6 :   }
+      71             : 
+      72             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      73             :   bool start(void) override;
+      74             :   bool pause(void) override;
+      75             :   bool reset(void) override;
+      76             : 
+      77             :   /* mrs_msgs::UavState  getUavState() override; */
+      78             :   /* nav_msgs::Odometry  getInnovation() const override; */
+      79             :   /* std::vector<double> getPoseCovariance() const override; */
+      80             :   /* std::vector<double> getTwistCovariance() const override; */
+      81             : 
+      82             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      83             : };
+      84             : 
+      85             : }  // namespace passthrough
+      86             : 
+      87             : }  // namespace mrs_uav_state_estimators
+      88             : 
+      89             : #endif  // ESTIMATORS_STATE_PASSTHROUGH_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html new file mode 100644 index 0000000000..88d95237e0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html @@ -0,0 +1,43 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ 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:2023-12-06 10:06:33Functions: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)44
mrs_uav_state_estimators::StateGeneric::~StateGeneric().244
+
+
+ + + +
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..d71a55146b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)44
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::~StateGeneric().244
+
+
+ + + +
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..6ed35a50c0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html @@ -0,0 +1,183 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions: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          44 :   StateGeneric(const std::string &name, const bool is_core_plugin)
+      79          44 :       : StateEstimator(name, name + "_origin", state_generic::package_name), is_core_plugin_(is_core_plugin) {
+      80          44 :   }
+      81             : 
+      82          44 :   ~StateGeneric(void) {
+      83          44 :   }
+      84             : 
+      85             :   void initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      86             :   bool start(void) override;
+      87             :   bool pause(void) override;
+      88             :   bool reset(void) override;
+      89             : 
+      90             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      91             : 
+      92             :   std::optional<double> getHeading() const;
+      93             : 
+      94             :   void updateUavState();
+      95             : };
+      96             : 
+      97             : }  // namespace mrs_uav_state_estimators
+      98             : 
+      99             : #endif  // ESTIMATORS_STATE_STATE_GENERIC_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html new file mode 100644 index 0000000000..e38bed99a7 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html @@ -0,0 +1,45 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:11717467.2 %
Date:2023-12-06 10:06:33Functions: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_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
<unnamed>68.3 %28 / 4133.3 %2 / 6
proc_median_filter.h +
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proc_tf_to_world.h +
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+ 		74.5 %35 / 4737.5 %3 / 8
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proc_saturate.h +
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+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
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+ + + + +
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proc_saturate.h +
60.0%60.0%
+ 		60.0 %24 / 4066.7 %4 / 6
<unnamed>60.0 %24 / 4066.7 %4 / 6
proc_median_filter.h +
63.9%63.9%
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<unnamed>63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
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+ 		68.3 %28 / 4133.3 %2 / 6
<unnamed>68.3 %28 / 4133.3 %2 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
proc_tf_to_world.h +
74.5%74.5%
+ 		74.5 %35 / 4737.5 %3 / 8
<unnamed>74.5 %35 / 4737.5 %3 / 8
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Test:MRS UAV System - Test coverage reportLines:11717467.2 %
Date:2023-12-06 10:06:33Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_excessive_tilt.h +
68.3%68.3%
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<unnamed>68.3 %28 / 4133.3 %2 / 6
proc_median_filter.h +
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proc_saturate.h +
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proc_tf_to_world.h +
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processor.h +
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Test:MRS UAV System - Test coverage reportLines:11717467.2 %
Date:2023-12-06 10:06:33Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_tf_to_world.h +
74.5%74.5%
+ 		74.5 %35 / 4737.5 %3 / 8
proc_saturate.h +
60.0%60.0%
+ 		60.0 %24 / 4066.7 %4 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html new file mode 100644 index 0000000000..e04dd5c3c9 --- /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:11717467.2 %
Date:2023-12-06 10:06:33Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
proc_saturate.h +
60.0%60.0%
+ 		60.0 %24 / 4066.7 %4 / 6
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
proc_tf_to_world.h +
74.5%74.5%
+ 		74.5 %35 / 4737.5 %3 / 8
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html new file mode 100644 index 0000000000..5da19198c2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:11717467.2 %
Date:2023-12-06 10:06:33Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_saturate.h +
60.0%60.0%
+ 		60.0 %24 / 4066.7 %4 / 6
proc_tf_to_world.h +
74.5%74.5%
+ 		74.5 %35 / 4737.5 %3 / 8
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
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Generated by: LCOV version 1.14
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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..b3b7b8be9c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func-sort-c.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:284168.3 %
Date:2023-12-06 10:06:33Functions: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&)1
mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)2137
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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..f5ec9e14e2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:284168.3 %
Date:2023-12-06 10:06:33Functions:2633.3 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcExcessiveTilt<1>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)2137
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&)1
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..317e5bc24e --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html @@ -0,0 +1,206 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:284168.3 %
Date:2023-12-06 10:06:33Functions: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           1 : 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           1 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      45             : 
+      46             :   // | --------------------- load parameters -------------------- |
+      47           1 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      48             : 
+      49           1 :   ph->param_loader->loadParam("orientation_topic", orientation_topic_);
+      50             :   double max_tilt;
+      51           1 :   ph->param_loader->loadParam("max_tilt", max_tilt);
+      52             : 
+      53           1 :   max_tilt = M_PI * (max_tilt / 180.0);
+      54             : 
+      55           1 :   max_tilt_sq_ = std::pow(max_tilt, 2);
+      56             : 
+      57           1 :   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           1 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64           1 :   shopts.nh                 = nh;
+      65           1 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66           1 :   shopts.no_message_timeout = ros::Duration(1.0);
+      67           1 :   shopts.threadsafe         = true;
+      68           1 :   shopts.autostart          = true;
+      69           1 :   shopts.queue_size         = 10;
+      70           1 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72           1 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch->uav_name + "/" + orientation_topic_);
+      73           1 : }
+      74             : /*//}*/
+      75             : 
+      76             : /*//{ process() */
+      77             : template <int n_measurements>
+      78        2137 : std::tuple<bool, bool> ProcExcessiveTilt<n_measurements>::process(measurement_t& measurement) {
+      79             : 
+      80        2137 :   if (!Processor<n_measurements>::enabled_) {
+      81           0 :     return {true, true};
+      82             :   }
+      83             : 
+      84        2137 :   if (!sh_orientation_.hasMsg()) {
+      85           0 :     return {false, false};
+      86             :   }
+      87             : 
+      88        2137 :   bool ok_flag     = true;
+      89        2137 :   bool should_fuse = true;
+      90             : 
+      91             :   try {
+      92        2137 :     Eigen::Matrix3d orientation_R = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion);
+      93             : 
+      94        2137 :     const double tilt = mrs_lib::geometry::angleBetween(Eigen::Vector3d(0, 0, 1), orientation_R.col(2));
+      95             : 
+      96        2137 :     const bool is_excessive_tilt = std::pow(tilt, 2) > max_tilt_sq_;
+      97             : 
+      98        2137 :     if (is_excessive_tilt) {
+      99           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: excessive tilt of %.2f deg. Not fusing correction.", Processor<n_measurements>::getPrintName().c_str(), tilt / M_PI * 180);
+     100           0 :       ok_flag     = false;
+     101           0 :       should_fuse = false;
+     102             :     }
+     103             :   }
+     104           0 :   catch (...) {
+     105           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed obtaining tilt value", Processor<n_measurements>::getPrintName().c_str());
+     106           0 :     ok_flag     = false;
+     107           0 :     should_fuse = false;
+     108             :   }
+     109        2137 :   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&)1
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)2137
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Date:2023-12-06 10:06:33Functions:2633.3 %
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mrs_uav_state_estimators::ProcMedianFilter<1>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)2137
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&)1
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           1 : 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           1 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      41             : 
+      42             :   // | --------------------- load parameters -------------------- |
+      43           1 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      44             : 
+      45           1 :   ph->param_loader->loadParam("buffer_size", buffer_size_);
+      46           1 :   ph->param_loader->loadParam("max_diff", max_diff_);
+      47             : 
+      48           1 :   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           1 :   const double min_valid = std::numeric_limits<double>::lowest();
+      55           1 :   const double max_valid = std::numeric_limits<double>::max();
+      56             : 
+      57             :   // initialize median filter
+      58           2 :   for (int i = 0; i < n_measurements; i++) {
+      59           1 :     vec_mf_.push_back(mrs_lib::MedianFilter(buffer_size_, min_valid, max_valid, max_diff_));
+      60             :   }
+      61           1 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66        2137 : std::tuple<bool, bool> ProcMedianFilter<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68        2137 :   if (!Processor<n_measurements>::enabled_) {
+      69           0 :     return {true, true};
+      70             :   }
+      71             : 
+      72        2137 :   bool ok_flag     = true;
+      73        2137 :   bool should_fuse = true;
+      74        4274 :   for (int i = 0; i < measurement.rows(); i++) {
+      75        2137 :     vec_mf_[i].add(measurement(i));
+      76        2137 :     if (vec_mf_[i].full()) {
+      77        2038 :       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          99 :       ROS_WARN_THROTTLE(1.0, "[%s]: median filter not full yet", Processor<n_measurements>::getPrintName().c_str());
+      88          99 :       ok_flag     = false;
+      89          99 :       should_fuse = false;
+      90             :     }
+      91             :   }
+      92             : 
+      93        2137 :   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:2023-12-06 10:06:33Functions: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)>)2
mrs_uav_state_estimators::ProcSaturate<1>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)3
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)1029
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)3130
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_saturate.h (source / functions)HitTotalCoverage
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Date:2023-12-06 10:06:33Functions:4666.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcSaturate<1>::reset()0
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)3130
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)>)3
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)1029
mrs_uav_state_estimators::ProcSaturate<2>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)2
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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:244060.0 %
Date:2023-12-06 10:06:33Functions:4666.7 %
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_SATURATE_H
+       3             : #define PROCESSORS_PROC_SATURATE_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : 
+       9             : #include <limits>
+      10             : #include <functional>
+      11             : 
+      12             : namespace mrs_uav_state_estimators
+      13             : {
+      14             : 
+      15             : using namespace mrs_uav_managers::estimation_manager;
+      16             : 
+      17             : template <int n_measurements>
+      18             : class ProcSaturate : public Processor<n_measurements> {
+      19             : 
+      20             : public:
+      21             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      22             : 
+      23             : public:
+      24             :   ProcSaturate(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      25             :                const std::shared_ptr<PrivateHandlers_t>& ph, StateId_t state_id, std::function<double(int, int)> fun_get_state);
+      26             : 
+      27             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      28             :   void                   reset();
+      29             : 
+      30             : private:
+      31             :   const StateId_t                 state_id_;
+      32             :   std::function<double(int, int)> fun_get_state_;
+      33             : 
+      34             :   bool   keep_enabled_;
+      35             :   double saturate_min_;
+      36             :   double saturate_max_;
+      37             :   double innovation_limit_;
+      38             : };
+      39             : 
+      40             : /*//{ constructor */
+      41             : template <int n_measurements>
+      42           5 : 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           5 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph), state_id_(state_id), fun_get_state_(fun_get_state) {
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48           5 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      49             : 
+      50           5 :   ph->param_loader->loadParam("start_enabled", this->start_enabled_);
+      51           5 :   this->enabled_ = this->start_enabled_;
+      52           5 :   ph->param_loader->loadParam("keep_enabled", keep_enabled_);
+      53           5 :   ph->param_loader->loadParam("min", saturate_min_);
+      54           5 :   ph->param_loader->loadParam("max", saturate_max_);
+      55           5 :   ph->param_loader->loadParam("limit", innovation_limit_);
+      56             : 
+      57           5 :   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           5 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66        4159 : std::tuple<bool, bool> ProcSaturate<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68             :   // if no saturation is required, processing is successful
+      69        4159 :   if (!this->enabled_) {
+      70           0 :     return {true, true};
+      71             :   }
+      72             : 
+      73        4159 :   bool ok_flag     = true;
+      74        4159 :   bool should_fuse = true;
+      75        9239 :   for (int i = 0; i < measurement.rows(); i++) {
+      76        5184 :     const double state = fun_get_state_(state_id_, i);
+      77        5184 :     ROS_INFO_ONCE("[%s]: first state[%d][%d]: %.2f", Processor<n_measurements>::getNamespacedName().c_str(), state_id_, i, state);
+      78             : 
+      79        5184 :     if (measurement(i) > state + innovation_limit_ || measurement(i) < state - innovation_limit_) {
+      80         104 :       return {true, true};  // do not even try to saturate, trigger innovation-based switch to other estimator
+      81             :     }
+      82             : 
+      83        5080 :     if (measurement(i) > state + saturate_max_) {
+      84           0 :       const double saturated = state + saturate_max_;
+      85           0 :       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           0 :       measurement(i) = saturated;
+      88           0 :       ok_flag        = false;
+      89           0 :       should_fuse    = true;
+      90        5080 :     } 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        4055 :   if (!this->keep_enabled_ && ok_flag) {
+     102           0 :     this->enabled_ = false;
+     103             :   }
+     104             : 
+     105        4055 :   return {ok_flag, should_fuse};  // saturated measurement is valid
+     106             : }
+     107             : /*//}*/
+     108             : 
+     109             : /*//{ reset() */
+     110             : template <int n_measurements>
+     111           0 : void ProcSaturate<n_measurements>::reset() {
+     112             :   // no need to reset anything
+     113           0 : }
+     114             : /*//}*/
+     115             : 
+     116             : }  // namespace mrs_uav_state_estimators
+     117             : 
+     118             : #endif  // PROCESSORS_PROC_MEDIAN_FILTER_H
+
+
+
+ + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:354774.5 %
Date:2023-12-06 10:06:33Functions: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&)42
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)24662
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)113891
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:354774.5 %
Date:2023-12-06 10:06:33Functions: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>)24662
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)113891
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&)42
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.frameset.html new file mode 100644 index 0000000000..6aab5842a6 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.html new file mode 100644 index 0000000000..af0b02a41b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.html @@ -0,0 +1,222 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:354774.5 %
Date:2023-12-06 10:06:33Functions:3837.5 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_TF_TO_WORLD_H
+       3             : #define PROCESSORS_PROC_TF_TO_WORLD_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <sensor_msgs/NavSatFix.h>
+       8             : 
+       9             : #include <mrs_lib/gps_conversions.h>
+      10             : #include <mrs_lib/subscribe_handler.h>
+      11             : #include <mrs_lib/param_loader.h>
+      12             : 
+      13             : namespace mrs_uav_state_estimators
+      14             : {
+      15             : 
+      16             : using namespace mrs_uav_managers::estimation_manager;
+      17             : 
+      18             : template <int n_measurements>
+      19             : class ProcTfToWorld : public Processor<n_measurements> {
+      20             : 
+      21             : public:
+      22             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      23             : 
+      24             : public:
+      25             :   ProcTfToWorld(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      26             :                 const std::shared_ptr<PrivateHandlers_t>& ph);
+      27             : 
+      28             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      29             :   void                   reset();
+      30             : 
+      31             : private:
+      32             :   bool is_initialized_ = false;
+      33             : 
+      34             :   std::string gnss_topic_;
+      35             : 
+      36             :   bool   got_gnss_                  = false;
+      37             :   bool   is_gnss_offset_calculated_ = false;
+      38             :   double gnss_x_;
+      39             :   double gnss_y_;
+      40             : 
+      41             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+      42             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+      43             : };
+      44             : 
+      45             : /*//{ constructor */
+      46             : template <int n_measurements>
+      47          42 : ProcTfToWorld<n_measurements>::ProcTfToWorld(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name,
+      48             :                                              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph)
+      49          42 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      50             : 
+      51          42 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      52             : 
+      53          42 :   ph->param_loader->loadParam("gnss_topic", gnss_topic_);
+      54             : 
+      55          42 :   gnss_topic_ = "/" + ch->uav_name + "/" + gnss_topic_;
+      56             : 
+      57          42 :   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          42 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          42 :   shopts.nh                 = nh;
+      65          42 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          42 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      67          42 :   shopts.threadsafe         = true;
+      68          42 :   shopts.autostart          = true;
+      69          42 :   shopts.queue_size         = 10;
+      70          42 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          42 :   sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, gnss_topic_, &ProcTfToWorld::callbackGnss, this);
+      73             : 
+      74          42 :   is_initialized_ = true;
+      75          42 : }
+      76             : /*//}*/
+      77             : 
+      78             : /*//{ callbackGnss() */
+      79             : template <int n_measurements>
+      80       24662 : void ProcTfToWorld<n_measurements>::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+      81             : 
+      82       24662 :   if (!is_initialized_) {
+      83           0 :     return;
+      84             :   }
+      85             : 
+      86       24662 :   if (got_gnss_) {
+      87       24620 :     return;
+      88             :   }
+      89             : 
+      90          42 :   if (!std::isfinite(msg->latitude)) {
+      91           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->latitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+      92             :   }
+      93             : 
+      94          42 :   if (!std::isfinite(msg->longitude)) {
+      95           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->longitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+      96             :   }
+      97             : 
+      98          42 :   mrs_lib::UTM(msg->latitude, msg->longitude, &gnss_x_, &gnss_y_);
+      99          42 :   got_gnss_ = true;
+     100             : }
+     101             : /*//}*/
+     102             : 
+     103             : /*//{ process() */
+     104             : template <int n_measurements>
+     105      113891 : std::tuple<bool, bool> ProcTfToWorld<n_measurements>::process(measurement_t& measurement) {
+     106             : 
+     107      113891 :   if (!Processor<n_measurements>::enabled_) {
+     108           0 :     return {true, true};
+     109             :   }
+     110             : 
+     111      113891 :   if (!got_gnss_) {
+     112           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Missing GNSS data on topic: %s", Processor<n_measurements>::getPrintName().c_str(), gnss_topic_.c_str());
+     113           0 :     return {false, false};
+     114             :   }
+     115             : 
+     116      113891 :   if (!is_gnss_offset_calculated_) {
+     117             : 
+     118          42 :     gnss_x_                    = (gnss_x_ - measurement(0)) - Processor<n_measurements>::ch_->world_origin.x;
+     119          42 :     gnss_y_                    = (gnss_y_ - measurement(1)) - Processor<n_measurements>::ch_->world_origin.y;
+     120          42 :     is_gnss_offset_calculated_ = true;
+     121             :   }
+     122             : 
+     123      113891 :   measurement(0) += gnss_x_;
+     124      113891 :   measurement(1) += gnss_y_;
+     125      113891 :   return {true, true};
+     126             : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ reset() */
+     130             : template <int n_measurements>
+     131           0 : void ProcTfToWorld<n_measurements>::reset() {
+     132           0 :   got_gnss_                  = false;
+     133           0 :   is_gnss_offset_calculated_ = false;
+     134           0 : }
+     135             : /*//}*/
+     136             : }  // namespace mrs_uav_state_estimators
+     137             : 
+     138             : #endif  // PROCESSORS_PROC_TF_TO_WORLD_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html new file mode 100644 index 0000000000..547cc3c590 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html @@ -0,0 +1,55 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ 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..77272cb7d2d9bb6594b04b10e0d69c74d16c8925 GIT binary patch literal 685 zcmV;e0#f~nP)v0{{R3&zjKJ0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp;0#i$JzG z4yhaR4CA7OH5=K$2J#MEjbdO_W5q(Ot14BiLi?IqAv|i#f?AcjhhBcInrSt48I4U= z%=6{;FVJitTZ-b!%R&+0h#>^!p&%0lDw;F|GH1`;6}S#}?z`BkV)ot8S1usj zNuqf0b%a+NjHQUJZk#dhq^egKqn$v2bBqA)yjcen$Y(S)D@_4Bj!zWpPWw5pBVEV8 z?nVYYx+0FV4?y5VQ6{P>8f2B1%?j1Ugt>-a`W1`$YdhemUZ7l>HTCVvsgt`1O#& z7oi(R-`9+meW9fCKe}3c4U{K7gu5|4Abr!c4*&bsOm|1A5+oP8TY19c>w^voq08JPleH(v1 zDaM0>KPj-*b2-au7QSWhzO}7YUL1s~17x<$A$U8A3#erIyV+{MudmLGA0Yn#0D?SZ TT>#kq00000NkvXXu0mjfA-6Ic literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func-sort-c.html new file mode 100644 index 0000000000..357d146c55 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2023-12-06 10:06:33Functions:6875.0 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Processor<1>::toggle(bool)0
mrs_uav_state_estimators::Processor<2>::toggle(bool)0
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const2
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&)5
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const8
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const42
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&)44
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const46
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func.html new file mode 100644 index 0000000000..b9ee45d195 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2023-12-06 10:06:33Functions: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&)5
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&)44
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const2
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const8
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const42
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const46
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..2c0ff87a56 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2023-12-06 10:06:33Functions:6875.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROCESSOR_H
+       3             : #define PROCESSORS_PROCESSOR_H
+       4             : 
+       5             : namespace mrs_uav_state_estimators
+       6             : {
+       7             : 
+       8             : using namespace mrs_uav_managers::estimation_manager;
+       9             : 
+      10             : template <int n_measurements>
+      11             : class Processor {
+      12             : 
+      13             : public:
+      14             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      15             : 
+      16             : public:
+      17             :   std::string getName() const;
+      18             :   std::string getNamespacedName() const;
+      19             :   std::string getPrintName() const;
+      20             : 
+      21             :   void toggle(bool enable);
+      22             : 
+      23             :   virtual std::tuple<bool, bool> process(measurement_t& measurement) = 0;
+      24             :   virtual void                   reset()                             = 0;
+      25             : 
+      26             : protected:
+      27          49 :   Processor(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      28             :             const std::shared_ptr<PrivateHandlers_t>& ph)
+      29          49 :       : correction_name_(correction_name), name_(name), ch_(ch), ph_(ph) {
+      30          49 :   }  // 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          54 : std::string Processor<n_measurements>::getNamespacedName() const {
+      52          54 :   return correction_name_ + "/" + name_;
+      53             : }
+      54             : /*//}*/
+      55             : 
+      56             : /*//{ getPrintName() */
+      57             : template <int n_measurements>
+      58          44 : std::string Processor<n_measurements>::getPrintName() const {
+      59          44 :   return ch_->nodelet_name + "/" + correction_name_ + "/" + name_;
+      60             : }
+      61             : /*//}*/
+      62             : 
+      63             : /*//{ toggle() */
+      64             : template <int n_measurements>
+      65           0 : void Processor<n_measurements>::toggle(bool enable) {
+      66           0 :   enabled_ = enable;
+      67           0 : }
+      68             : /*//}*/
+      69             : 
+      70             : }  // namespace mrs_uav_state_estimators
+      71             : 
+      72             : #endif  // PROCESSORS_PROCESSOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.overview.html new file mode 100644 index 0000000000..804fb09cf2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.overview.html @@ -0,0 +1,38 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..5bde3e19271072329a6f5996af74c7f1cd4876bb GIT binary patch literal 436 zcmV;l0ZaagP)Ir7GwQk%4-g?oskOT)R(R$vYpnS+meZL^Ea=M0kJaxFSTc z32H$x9|fX3-#CC~#B?1rr;fx2&axu4p2Hm<8V4}X(NOjTn@>QGHiL*QhiTGJcM{QI zcEYd_=+;(>BBbidsb8hWiI0LEB;K?W4L$!}-{}$`SjR_JkDuK120ePg%olHM&$>x#~P3jjH@25qq;e;xFU5X@e8u zL5hL(9u|*xjz%}DKZxi46(Npi-`BmtM&E7WPzx=rL|%qa+ju<_$wWjHLqq#-Pk!}9 ej;eT@U+_NbxtO|J!@K?f0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7510472.1 %
Date:2023-12-06 10:06:33Functions: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()40
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&)40
mrs_uav_state_estimators::garmin_agl::GarminAgl::start()40
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)464
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const42623
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)44074
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+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7510472.1 %
Date:2023-12-06 10:06:33Functions: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()40
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&)40
mrs_uav_state_estimators::garmin_agl::GarminAgl::isConverged()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)44074
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)464
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()40
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const42623
mrs_uav_state_estimators::garmin_agl::GarminAgl::getHeightCovariance() const0
+
+
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.frameset.html new file mode 100644 index 0000000000..bd433a3da0 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.html new file mode 100644 index 0000000000..90fad3a3f2 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.html @@ -0,0 +1,318 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7510472.1 %
Date:2023-12-06 10:06:33Functions:61060.0 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <mrs_uav_state_estimators/estimators/agl/garmin_agl.h>
+       4             : 
+       5             : //}
+       6             : 
+       7             : namespace mrs_uav_state_estimators
+       8             : {
+       9             : 
+      10             : namespace garmin_agl
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14          40 : void GarminAgl::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          40 :   ch_ = ch;
+      17          40 :   ph_ = ph;
+      18          40 :   nh_ = nh;
+      19             : 
+      20          40 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      21             : 
+      22             :   // | --------------------- load parameters -------------------- |
+      23             : 
+      24          40 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          40 :   if (is_core_plugin_) {
+      27             : 
+      28          40 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      29          40 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          40 :   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          40 :   _update_timer_rate_       = 100;                                                                                          // TODO: parametrize
+      39          40 :   timer_update_             = nh.createTimer(ros::Rate(_update_timer_rate_), &GarminAgl::timerUpdate, this, false, false);  // not running after init
+      40          40 :   _check_health_timer_rate_ = 1;                                                                                            // TODO: parametrize
+      41          40 :   timer_check_health_       = nh.createTimer(ros::Rate(_check_health_timer_rate_), &GarminAgl::timerCheckHealth, this);
+      42             : 
+      43             :   // | --------------- subscribers initialization --------------- |
+      44          80 :   mrs_lib::SubscribeHandlerOptions shopts;
+      45          40 :   shopts.nh                 = nh;
+      46          40 :   shopts.node_name          = getPrintName();
+      47          40 :   shopts.no_message_timeout = ros::Duration(0.5);
+      48          40 :   shopts.threadsafe         = true;
+      49          40 :   shopts.autostart          = true;
+      50          40 :   shopts.queue_size         = 10;
+      51          40 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      52             : 
+      53             :   // | ---------------- publishers initialization --------------- |
+      54          40 :   ph_agl_height_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, Support::toSnakeCase(getName()) + "/agl_height", 10);
+      55          40 :   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          40 :   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          40 :   est_agl_garmin_ = std::make_unique<AltGeneric>(est_agl_name_, frame_id_, getName(), is_core_plugin_);
+      65          40 :   est_agl_garmin_->initialize(nh, ch_, ph_);
+      66             : 
+      67          40 :   max_flight_z_ = est_agl_garmin_->getMaxFlightZ();
+      68             : 
+      69             :   // | ------------------ initialize published messages ------------------ |
+      70          40 :   agl_height_init_.header.frame_id     = ns_frame_id_;
+      71          40 :   agl_height_cov_init_.header.frame_id = ns_frame_id_;
+      72             : 
+      73             :   // | ------------------ finish initialization ----------------- |
+      74             : 
+      75          40 :   if (changeState(INITIALIZED_STATE)) {
+      76          40 :     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          40 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84          40 : bool GarminAgl::start(void) {
+      85             : 
+      86             : 
+      87          40 :   if (isInState(READY_STATE)) {
+      88             : 
+      89             :     bool est_agl_garmin_start_successful;
+      90             : 
+      91          40 :     if (est_agl_garmin_->isStarted() || est_agl_garmin_->isRunning()) {
+      92           0 :       est_agl_garmin_start_successful = true;
+      93             :     } else {
+      94          40 :       est_agl_garmin_start_successful = est_agl_garmin_->start();
+      95             :     }
+      96             : 
+      97          40 :     if (est_agl_garmin_start_successful) {
+      98          40 :       timer_update_.start();
+      99          40 :       changeState(STARTED_STATE);
+     100          40 :       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       44074 : void GarminAgl::timerUpdate(const ros::TimerEvent &event) {
+     147             : 
+     148       44074 :   if (!isInitialized()) {
+     149           0 :     return;
+     150             :   }
+     151             : 
+     152       44074 :   const ros::Time time_now = ros::Time::now();
+     153             : 
+     154       88148 :   mrs_msgs::Float64Stamped agl_height = agl_height_init_;
+     155       44074 :   agl_height.header.stamp             = time_now;
+     156       44074 :   agl_height.value                    = est_agl_garmin_->getState(POSITION);
+     157             : 
+     158       88148 :   mrs_msgs::Float64ArrayStamped agl_height_cov;
+     159       44074 :   agl_height_cov.header.stamp = time_now;
+     160             : 
+     161       44074 :   const int n_states = 2;  // TODO this should be defined somewhere else
+     162       44074 :   agl_height_cov.values.resize(n_states * n_states);
+     163       44074 :   agl_height_cov.values.at(n_states * POSITION + POSITION) = est_agl_garmin_->getCovariance(POSITION);
+     164       44074 :   agl_height_cov.values.at(n_states * VELOCITY + VELOCITY) = est_agl_garmin_->getCovariance(VELOCITY);
+     165             : 
+     166       44074 :   mrs_lib::set_mutexed(mtx_agl_height_, agl_height, agl_height_);
+     167       44074 :   mrs_lib::set_mutexed(mtx_agl_height_cov_, agl_height_cov, agl_height_cov_);
+     168             : 
+     169       44074 :   publishAglHeight();
+     170       44074 :   publishCovariance();
+     171       44074 :   publishDiagnostics();
+     172             : }
+     173             : /*//}*/
+     174             : 
+     175             : /*//{ timerCheckHealth() */
+     176         464 : void GarminAgl::timerCheckHealth(const ros::TimerEvent &event) {
+     177             : 
+     178         464 :   if (!isInitialized()) {
+     179           0 :     return;
+     180             :   }
+     181             : 
+     182         464 :   if (isInState(INITIALIZED_STATE)) {
+     183             : 
+     184          44 :     if (est_agl_garmin_->isReady()) {
+     185          40 :       changeState(READY_STATE);
+     186          40 :       ROS_INFO("[%s]: Estimator is ready to start", getPrintName().c_str());
+     187             :     } else {
+     188           4 :       ROS_INFO("[%s]: %s subestimators to be ready", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     189           4 :       return;
+     190             :     }
+     191             :   }
+     192             : 
+     193             : 
+     194         460 :   if (isInState(STARTED_STATE)) {
+     195          41 :     ROS_INFO("[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     196             : 
+     197          41 :     if (est_agl_garmin_->isRunning()) {
+     198          40 :       ROS_INFO("[%s]: Subestimators converged", getPrintName().c_str());
+     199          40 :       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       42623 : mrs_msgs::Float64Stamped GarminAgl::getUavAglHeight() const {
+     219       42623 :   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          40 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::garmin_agl::GarminAgl, mrs_uav_managers::AglEstimator)
+
+
+
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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..f7d84c67a6 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func-sort-c.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2023-12-06 10:06:33Functions:223073.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::setCovarianceMatrix(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)0
mrs_uav_state_estimators::AltGeneric::pause()0
mrs_uav_state_estimators::AltGeneric::reset()0
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)84
mrs_uav_state_estimators::AltGeneric::isConverged()84
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)84
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)142
mrs_uav_state_estimators::AltGeneric::start()283
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const548
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const644
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const3130
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) const3130
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const49804
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const91922
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)91924
mrs_uav_state_estimators::AltGeneric::setDt(double const&)91926
mrs_uav_state_estimators::AltGeneric::getStates() const91957
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)97678
mrs_uav_state_estimators::AltGeneric::generateA()183888
mrs_uav_state_estimators::AltGeneric::generateB()183919
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const187745
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&)333033
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)333037
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) const333045
mrs_uav_state_estimators::AltGeneric::getState(int const&) const413012
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html new file mode 100644 index 0000000000..0504b6c48d --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2023-12-06 10:06:33Functions:223073.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)84
mrs_uav_state_estimators::AltGeneric::isConverged()84
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)97678
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&)333033
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)333037
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)91924
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)84
mrs_uav_state_estimators::AltGeneric::setCovarianceMatrix(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)0
mrs_uav_state_estimators::AltGeneric::pause()0
mrs_uav_state_estimators::AltGeneric::reset()0
mrs_uav_state_estimators::AltGeneric::setDt(double const&)91926
mrs_uav_state_estimators::AltGeneric::start()283
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)142
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::generateA()183888
mrs_uav_state_estimators::AltGeneric::generateB()183919
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const644
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const187745
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const49804
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const548
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const91922
mrs_uav_state_estimators::AltGeneric::getState(int const&) const413012
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const3130
mrs_uav_state_estimators::AltGeneric::getStates() const91957
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) const333045
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) const3130
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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..506b12c2b4 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.html @@ -0,0 +1,797 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2023-12-06 10:06:33Functions:223073.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14          84 : void AltGeneric::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             :   // clang-format off
+      22          84 :   dt_ = 0.01;
+      23          84 :   input_coeff_ = 10;
+      24          84 :   default_input_coeff_ = 10;
+      25             : 
+      26          84 :   generateA();
+      27          84 :   generateB();
+      28             : 
+      29          84 :   H_ <<
+      30          84 :     1, 0, 0;
+      31             : 
+      32             :   // clang-format on
+      33             : 
+      34             :   // | --------------- initialize parameter loader -------------- |
+      35             : 
+      36          84 :   if (is_core_plugin_) {
+      37             : 
+      38          84 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      39          84 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      40             :   }
+      41             : 
+      42          84 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      43             : 
+      44             :   // | --------------------- load parameters -------------------- |
+      45             : 
+      46          84 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      47          84 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      48          84 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      49          84 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      50          84 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      51          84 :   if (is_repredictor_enabled_) {
+      52           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      53             :   }
+      54             : 
+      55             :   // | --------------- corrections initialization --------------- |
+      56          84 :   ph->param_loader->loadParam("corrections", correction_names_);
+      57             : 
+      58         212 :   for (auto corr_name : correction_names_) {
+      59         128 :     corrections_.push_back(std::make_shared<Correction<alt_generic::n_measurements>>(
+      60        3386 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::ALTITUDE, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      61      333045 :         [this](const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      62      333045 :           return this->doCorrection(meas, R, state);
+      63             :         }));
+      64             :   }
+      65             : 
+      66          84 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      67             : 
+      68             :   // | ----------- initialize process noise covariance ---------- |
+      69          84 :   Q_ = Q_t::Zero();
+      70             :   double tmp_noise;
+      71          84 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      72          84 :   Q_(POSITION, POSITION) = tmp_noise;
+      73          84 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      74          84 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      75          84 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      76          84 :   Q_(ACCELERATION, ACCELERATION) = tmp_noise;
+      77             : 
+      78             :   // | ------- check if all parameters loaded successfully ------ |
+      79          84 :   if (!ph->param_loader->loadedSuccessfully()) {
+      80           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      81           0 :     ros::shutdown();
+      82             :   }
+      83             : 
+      84             :   // | ------------- initialize dynamic reconfigure ------------- |
+      85             :   drmgr_ =
+      86          84 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&AltGeneric::callbackReconfigure, this, _1, _2));
+      87          84 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      88          84 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      89          84 :   drmgr_->config.acc = Q_(ACCELERATION, ACCELERATION);
+      90          84 :   drmgr_->update_config(drmgr_->config);
+      91             : 
+      92             :   // | --------------- Kalman filter intialization -------------- |
+      93          84 :   const x_t        x0 = x_t::Zero();
+      94          84 :   const P_t        P0 = 1e3 * P_t::Identity();
+      95          84 :   const statecov_t sc0({x0, P0});
+      96          84 :   sc_ = sc0;
+      97             : 
+      98          84 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+      99          84 :   if (is_repredictor_enabled_) {
+     100             : 
+     101           0 :     for (int i = 0; i < alt_generic::n_states; i++) {
+     102           0 :       H_t H = H_t::Zero();
+     103           0 :       H(i)  = 1;
+     104           0 :       models_.push_back(std::make_shared<lkf_t>(A_, B_, H));
+     105             :     }
+     106             : 
+     107           0 :     const u_t       u0 = u_t::Zero();
+     108           0 :     const ros::Time t0 = ros::Time::now();
+     109           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     110             : 
+     111           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     112             :   }
+     113             : 
+     114             :   // | ------------------ timers initialization ----------------- |
+     115          84 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &AltGeneric::timerUpdate, this);  // not running after init
+     116             :   /* timer_check_health_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &AltGeneric::timerCheckHealth, this); */
+     117             : 
+     118             :   // | --------------- subscribers initialization --------------- |
+     119             :   // subscriber to odometry
+     120         168 :   mrs_lib::SubscribeHandlerOptions shopts;
+     121          84 :   shopts.nh                 = nh;
+     122          84 :   shopts.node_name          = getPrintName();
+     123          84 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     124          84 :   shopts.threadsafe         = true;
+     125          84 :   shopts.autostart          = true;
+     126          84 :   shopts.queue_size         = 10;
+     127          84 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     128             : 
+     129          84 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     130             : 
+     131             :   // | ---------------- publishers initialization --------------- |
+     132          84 :   if (ch_->debug_topics.input) {
+     133          84 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     134             :   }
+     135          84 :   if (ch_->debug_topics.output) {
+     136          84 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     137             :   }
+     138          84 :   if (ch_->debug_topics.diag) {
+     139           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     140             :   }
+     141             : 
+     142             :   // | ------------------ finish initialization ----------------- |
+     143             : 
+     144          84 :   if (changeState(INITIALIZED_STATE)) {
+     145          84 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     146             :   } else {
+     147           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     148             :   }
+     149          84 : }
+     150             : /*//}*/
+     151             : 
+     152             : /*//{ start() */
+     153         283 : bool AltGeneric::start(void) {
+     154             : 
+     155         283 :   if (isInState(READY_STATE)) {
+     156             :     /* timer_update_.start(); */
+     157          84 :     changeState(STARTED_STATE);
+     158          84 :     return true;
+     159             : 
+     160             :   } else {
+     161         199 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     162         199 :     return false;
+     163             :   }
+     164             : }
+     165             : /*//}*/
+     166             : 
+     167             : /*//{ pause() */
+     168           0 : bool AltGeneric::pause(void) {
+     169             : 
+     170           0 :   if (isInState(RUNNING_STATE)) {
+     171           0 :     changeState(STOPPED_STATE);
+     172           0 :     return true;
+     173             : 
+     174             :   } else {
+     175           0 :     return false;
+     176             :   }
+     177             : }
+     178             : /*//}*/
+     179             : 
+     180             : /*//{ reset() */
+     181           0 : bool AltGeneric::reset(void) {
+     182             : 
+     183           0 :   if (!isInitialized()) {
+     184           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     185           0 :     return false;
+     186             :   }
+     187             : 
+     188           0 :   changeState(STOPPED_STATE);
+     189             : 
+     190             :   // Initialize LKF state and covariance
+     191           0 :   const x_t        x0 = x_t::Zero();
+     192           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     193           0 :   const statecov_t sc0({x0, P0});
+     194           0 :   sc_ = sc0;
+     195             : 
+     196             :   // Instantiate the LKF itself
+     197           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     198           0 :   if (is_repredictor_enabled_) {
+     199             : 
+     200           0 :     const u_t       u0 = u_t::Zero();
+     201           0 :     const ros::Time t0 = ros::Time(0);
+     202           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     203             :   }
+     204             : 
+     205           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     206             : 
+     207           0 :   return true;
+     208             : }
+     209             : /*//}*/
+     210             : 
+     211             : /* timerUpdate() //{*/
+     212       97678 : void AltGeneric::timerUpdate(const ros::TimerEvent &event) {
+     213             : 
+     214             : 
+     215       97678 :   if (!isInitialized()) {
+     216        5755 :     return;
+     217             :   }
+     218             : 
+     219       97619 :   switch (getCurrentSmState()) {
+     220             : 
+     221           0 :     case UNINITIALIZED_STATE: {
+     222           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     223           0 :       break;
+     224             :     }
+     225             : 
+     226        3234 :     case READY_STATE: {
+     227        3234 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     228        3234 :       break;
+     229             :     }
+     230             : 
+     231        2097 :     case INITIALIZED_STATE: {
+     232             :       // initialize the estimator with current corrections
+     233        2239 :       for (auto correction : corrections_) {
+     234        2149 :         auto res = correction->getProcessedCorrection();
+     235        2154 :         if (res) {
+     236         142 :           auto measurement_stamped = res.value();
+     237         142 :           setState(measurement_stamped.value(0), correction->getStateId());
+     238         142 :           ROS_INFO("[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     239             :         } else {
+     240        2014 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     241             :                             correction->getNamespacedName().c_str());
+     242        2012 :           return;
+     243             :         }
+     244             :       }
+     245          82 :       changeState(READY_STATE);
+     246          84 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     247          84 :       break;
+     248             :     }
+     249             : 
+     250          84 :     case STARTED_STATE: {
+     251          84 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     252             : 
+     253          84 :       if (isConverged()) {
+     254          84 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     255          84 :         changeState(RUNNING_STATE);
+     256             :       }
+     257          84 :       break;
+     258             :     }
+     259             : 
+     260       92193 :     case RUNNING_STATE: {
+     261      234171 :       for (auto correction : corrections_) {
+     262      141953 :         if (!correction->isHealthy()) {
+     263           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     264           0 :           changeState(ERROR_STATE);
+     265             :         }
+     266             :       }
+     267       92281 :       break;
+     268             :     }
+     269             : 
+     270           0 :     case STOPPED_STATE: {
+     271           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     272           0 :       break;
+     273             :     }
+     274             : 
+     275           0 :     case ERROR_STATE: {
+     276           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     277           0 :       ros::Time t_now = ros::Time::now();
+     278           0 :       if (is_error_state_first_time_) {
+     279           0 :         prev_time_in_error_state_  = t_now;
+     280           0 :         is_error_state_first_time_ = false;
+     281           0 :         error_state_duration_      = ros::Duration(0.0);
+     282             :       }
+     283           0 :       error_state_duration_ += t_now - prev_time_in_error_state_;
+     284             : 
+     285             : 
+     286             :       // check if all corrections are healthy now
+     287           0 :       bool all_corrections_healthy = true;
+     288           0 :       for (auto correction : corrections_) {
+     289           0 :         if (!correction->isHealthy()) {
+     290           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     291           0 :           all_corrections_healthy = false;
+     292             :         }
+     293             :       }
+     294             : 
+     295           0 :       if (all_corrections_healthy && innovation_ok_) {
+     296             :         // initialize the estimator again if corrections become healthy
+     297           0 :         if (error_state_duration_.toSec() > 5.0) {
+     298           0 :           ROS_INFO("[%s]: corrections healthy for %.2f s", getPrintName().c_str(), error_state_duration_.toSec());
+     299           0 :           changeState(INITIALIZED_STATE);
+     300           0 :           is_error_state_first_time_ = true;
+     301           0 :         }
+     302             :       } else {
+     303           0 :         is_error_state_first_time_ = true;
+     304             :       }
+     305             : 
+     306           0 :       prev_time_in_error_state_ = t_now;
+     307             : 
+     308           0 :       break;
+     309             :     }
+     310             :   }
+     311             : 
+     312       95760 :   if (sh_control_input_.newMsg()) {
+     313       38479 :     is_input_ready_ = true;
+     314             :   }
+     315             : 
+     316             :   // check age of input
+     317       95664 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     318          18 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     319             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     320          18 :     is_input_ready_ = false;
+     321             :   }
+     322             : 
+     323       95535 :   if (!isRunning() && !isStarted()) {
+     324        3314 :     return;
+     325             :   }
+     326             : 
+     327       92231 :   if (first_iter_) {
+     328          84 :     first_iter_ = false;
+     329          84 :     return;
+     330             :   }
+     331             : 
+     332       92147 :   double dt = (event.current_real - event.last_real).toSec();
+     333       92157 :   if (dt <= 0.0) {
+     334         338 :     return;
+     335             :   }
+     336             : 
+     337       91819 :   if (!is_repredictor_enabled_) {  // repredictor requires constant dt TODO: how to handle repredictor + variable rate?
+     338       91686 :     setDt(dt);
+     339             :   }
+     340             : 
+     341             :   // prediction step
+     342       91944 :   u_t       u;
+     343       91703 :   ros::Time input_stamp;
+     344       91780 :   if (is_input_ready_) {
+     345       60506 :     mrs_msgs::EstimatorInputConstPtr msg            = sh_control_input_.getMsg();
+     346       60573 :     const tf2::Vector3               des_acc_global = getAccGlobal(msg, 0);  // we don't care about heading
+     347       60708 :     input_stamp                                     = msg->header.stamp;
+     348       60395 :     setInputCoeff(default_input_coeff_);
+     349       60609 :     u(0) = des_acc_global.getZ();
+     350             :   } else {
+     351       31079 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     352       31211 :     input_stamp = ros::Time::now();
+     353       31233 :     setInputCoeff(0);
+     354       31178 :     u = u_t::Zero();
+     355             :   }
+     356             : 
+     357             :   // go through available corrections and apply them
+     358             :   /* for (auto correction : corrections_) { */
+     359             :   /*   auto res = correction->getProcessedCorrection(); */
+     360             :   /*   if (res) { */
+     361             :   /*     auto measurement_stamped = res.value(); */
+     362             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     363             :   /*   } */
+     364             :   /* } */
+     365             : 
+     366       91376 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     367       91529 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     368             : 
+     369             :   try {
+     370             :     // Apply the prediction step
+     371      183210 :     std::scoped_lock lock(mutex_lkf_);
+     372       91564 :     if (is_repredictor_enabled_) {
+     373           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, lkf_);
+     374           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     375             :     } else {
+     376       91564 :       sc = lkf_->predict(sc, u, Q, dt_);
+     377             :     }
+     378             :   }
+     379           0 :   catch (const std::exception &e) {
+     380             :     // In case of error, alert the user
+     381           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     382             :   }
+     383             : 
+     384       91227 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     385             : 
+     386             :   // publishing
+     387       91534 :   publishInput(u, input_stamp);
+     388       91956 :   publishOutput();
+     389       91959 :   publishDiagnostics();
+     390             : }
+     391             : /*//}*/
+     392             : 
+     393             : /*//{ timerCheckHealth() */
+     394           0 : void AltGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+     395             : 
+     396           0 :   if (!isInitialized()) {
+     397           0 :     return;
+     398             :   }
+     399             : 
+     400           0 :   switch (getCurrentSmState()) {
+     401             : 
+     402           0 :     case UNINITIALIZED_STATE: {
+     403           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     404           0 :       break;
+     405             :     }
+     406             : 
+     407           0 :     case READY_STATE: {
+     408           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     409           0 :       break;
+     410             :     }
+     411             : 
+     412           0 :     case INITIALIZED_STATE: {
+     413             : 
+     414             :       // initialize the estimator with current corrections
+     415           0 :       for (auto correction : corrections_) {
+     416           0 :         auto res = correction->getProcessedCorrection();
+     417           0 :         if (res) {
+     418           0 :           auto measurement_stamped = res.value();
+     419           0 :           setState(measurement_stamped.value(0), correction->getStateId());
+     420           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     421             :         } else {
+     422           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     423             :                             correction->getNamespacedName().c_str());
+     424           0 :           return;
+     425             :         }
+     426             :       }
+     427           0 :       changeState(READY_STATE);
+     428           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     429           0 :       break;
+     430             :     }
+     431             : 
+     432           0 :     case STARTED_STATE: {
+     433           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     434             : 
+     435           0 :       if (isConverged()) {
+     436           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     437           0 :         changeState(RUNNING_STATE);
+     438             :       }
+     439           0 :       break;
+     440             :     }
+     441             : 
+     442           0 :     case RUNNING_STATE: {
+     443           0 :       for (auto correction : corrections_) {
+     444           0 :         if (!correction->isHealthy()) {
+     445           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     446           0 :           changeState(ERROR_STATE);
+     447             :         }
+     448             :       }
+     449           0 :       break;
+     450             :     }
+     451             : 
+     452           0 :     case STOPPED_STATE: {
+     453           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     454           0 :       break;
+     455             :     }
+     456             : 
+     457           0 :     case ERROR_STATE: {
+     458           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     459           0 :       bool all_corrections_healthy = true;
+     460           0 :       for (auto correction : corrections_) {
+     461           0 :         if (!correction->isHealthy()) {
+     462           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     463           0 :           all_corrections_healthy = false;
+     464             :         }
+     465             :       }
+     466             :       // initialize the estimator again if corrections become healthy
+     467           0 :       if (all_corrections_healthy) {
+     468           0 :         changeState(INITIALIZED_STATE);
+     469             :       }
+     470           0 :       break;
+     471             :     }
+     472             :   }
+     473             : 
+     474           0 :   if (sh_control_input_.newMsg()) {
+     475           0 :     is_input_ready_ = true;
+     476             :   }
+     477             : 
+     478             :   // check age of input
+     479           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     480           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     481             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     482           0 :     is_input_ready_ = false;
+     483             :   }
+     484             : }
+     485             : /*//}*/
+     486             : 
+     487             : /*//{ doCorrection() */
+     488      333037 : void AltGeneric::doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     489      333037 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     490      332850 : }
+     491             : /*//}*/
+     492             : 
+     493             : /*//{ doCorrection() */
+     494      333033 : void AltGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     495             : 
+     496      333033 :   if (!isInitialized()) {
+     497         427 :     return;
+     498             :   }
+     499             : 
+     500             :   // we do not want to perform corrections until the estimator is initialized
+     501      332898 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     502         427 :     return;
+     503             :   }
+     504             : 
+     505             :   // for position state check the innovation
+     506      332353 :   if (H_idx == POSITION) {
+     507      216278 :     std::scoped_lock lock(mtx_innovation_);
+     508             : 
+     509      216317 :     is_mitigating_jump_ = false;
+     510      216393 :     innovation_(0)      = z(0) - getState(POSITION);
+     511             : 
+     512      216227 :     if (fabs(innovation_(0)) > pos_innovation_limit_) {
+     513           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - [%.2f] lim: %.2f", getPrintName().c_str(), innovation_(0), pos_innovation_limit_);
+     514           0 :       innovation_ok_ = false;
+     515           0 :       switch (exc_innovation_action_) {
+     516           0 :         case ExcInnoAction_t::ELAND: {
+     517           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger eland in control manager", ros::this_node::getName().c_str());
+     518           0 :           changeState(ERROR_STATE);
+     519           0 :           break;
+     520             :         }
+     521           0 :         case ExcInnoAction_t::SWITCH: {
+     522           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: innovation should trigger estimator switch but no eland", ros::this_node::getName().c_str());
+     523           0 :           innovation_(0) = 0.0;  // this is quite hacky but is there other way to switch estimators and not trigger eland by the large innovation?
+     524           0 :           changeState(ERROR_STATE);
+     525           0 :           break;
+     526             :         }
+     527           0 :         case ExcInnoAction_t::MITIGATE: {
+     528           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger estimate jump mitigation", ros::this_node::getName().c_str());
+     529           0 :           innovation_(0)      = 0.0;  // this is quite hacky but is there other way to switch estimators and not trigger eland by the large innovation?
+     530           0 :           is_mitigating_jump_ = true;
+     531           0 :           setState(z(0), POSITION);
+     532           0 :           break;
+     533             :         }
+     534           0 :         case ExcInnoAction_t::NONE: {
+     535           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation ignored", ros::this_node::getName().c_str());
+     536           0 :           break;
+     537             :         }
+     538             :       }
+     539             :     }
+     540      216247 :     innovation_ok_ = true;
+     541             :   }
+     542             : 
+     543      332316 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     544             :   try {
+     545             :     // Apply the correction step
+     546             :     {
+     547      663370 :       std::scoped_lock lock(mutex_lkf_);
+     548      332431 :       H_        = H_t::Zero();
+     549      332393 :       H_(H_idx) = 1;
+     550      332032 :       lkf_->H   = H_;
+     551      331589 :       if (is_repredictor_enabled_) {
+     552             : 
+     553           0 :         lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     554             :       } else {
+     555      331589 :         sc = lkf_->correct(sc, z, R_t::Ones() * R);
+     556             :       }
+     557             :     }
+     558             :   }
+     559           0 :   catch (const std::exception &e) {
+     560             :     // In case of error, alert the user
+     561           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     562             :   }
+     563             : 
+     564      330944 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     565             : }  // namespace mrs_uav_state_estimators
+     566             : /*//}*/
+     567             : 
+     568             : /*//{ isConverged() */
+     569          84 : bool AltGeneric::isConverged() {
+     570             : 
+     571             :   // TODO: check convergence by rate of change of determinant
+     572             : 
+     573          84 :   return true;
+     574             : }
+     575             : /*//}*/
+     576             : 
+     577             : /*//{ getState() */
+     578        3130 : double AltGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     579        3130 :   return getState(stateIdToIndex(state_id_in, 0));
+     580             : }
+     581             : 
+     582      413012 : double AltGeneric::getState(const int &state_idx_in) const {
+     583      413012 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     584             : }
+     585             : /*//}*/
+     586             : 
+     587             : /*//{ setState() */
+     588           0 : void AltGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     589           0 :   setState(state_in, stateIdToIndex(state_id_in, 0));
+     590           0 : }
+     591             : 
+     592         142 : void AltGeneric::setState(const double &state_in, const int &state_idx_in) {
+     593         142 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     594         142 : }
+     595             : /*//}*/
+     596             : 
+     597             : /*//{ getStates() */
+     598       91957 : AltGeneric::states_t AltGeneric::getStates(void) const {
+     599      183870 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     600             : }
+     601             : /*//}*/
+     602             : 
+     603             : /*//{ setStates() */
+     604           0 : void AltGeneric::setStates(const states_t &states_in) {
+     605           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     606           0 : }
+     607             : /*//}*/
+     608             : 
+     609             : /*//{ getCovariance() */
+     610           0 : double AltGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     611           0 :   return getCovariance(stateIdToIndex(state_id_in, 0));
+     612             : }
+     613             : 
+     614      187745 : double AltGeneric::getCovariance(const int &state_idx_in) const {
+     615      187745 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     616             : }
+     617             : /*//}*/
+     618             : 
+     619             : /*//{ getCovarianceMatrix() */
+     620       91922 : AltGeneric::covariance_t AltGeneric::getCovarianceMatrix(void) const {
+     621      183799 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     622             : }
+     623             : /*//}*/
+     624             : 
+     625             : /*//{ setCovarianceMatrix() */
+     626           0 : void AltGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     627           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     628           0 : }
+     629             : /*//}*/
+     630             : 
+     631             : /*//{ getInnovation() */
+     632       49804 : double AltGeneric::getInnovation(const int &state_idx) const {
+     633       49804 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     634             : }
+     635             : 
+     636           0 : double AltGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     637           0 :   return getInnovation(stateIdToIndex(0, 0));
+     638             : }
+     639             : /*//}*/
+     640             : 
+     641             : /*//{ setDt() */
+     642       91926 : void AltGeneric::setDt(const double &dt) {
+     643       91926 :   dt_ = dt;
+     644       91926 :   generateA();
+     645       91689 :   generateB();
+     646      183549 :   std::scoped_lock lock(mutex_lkf_);
+     647       91693 :   lkf_->A = A_;
+     648       91814 :   lkf_->B = B_;
+     649       91687 : }
+     650             : /*//}*/
+     651             : 
+     652             : /*//{ setInputCoeff() */
+     653       91924 : void AltGeneric::setInputCoeff(const double &input_coeff) {
+     654       91924 :   input_coeff_ = input_coeff;
+     655       91924 :   generateA();
+     656       91680 :   generateB();
+     657      183204 :   std::scoped_lock lock(mutex_lkf_);
+     658       91524 :   lkf_->A = A_;
+     659       91631 :   lkf_->B = B_;
+     660       91668 : }
+     661             : /*//}*/
+     662             : 
+     663             : /*//{ generateA() */
+     664      183888 : void AltGeneric::generateA() {
+     665             : 
+     666             :   // clang-format off
+     667      183888 :     A_ <<
+     668      183218 :       1, dt_, 0.5 * dt_ * dt_,
+     669      183349 :       0, 1, dt_,
+     670      183596 :       0, 0, 1-(input_coeff_ * dt_);
+     671             :   // clang-format on
+     672      183269 : }
+     673             : /*//}*/
+     674             : 
+     675             : /*//{ generateB() */
+     676      183919 : void AltGeneric::generateB() {
+     677             : 
+     678             :   // clang-format off
+     679      183919 :     B_ <<
+     680             :       0,
+     681      182959 :       0,
+     682      183067 :       (input_coeff_ * dt_);
+     683             :   // clang-format on
+     684      182989 : }
+     685             : /*//}*/
+     686             : 
+     687             : /*//{ callbackReconfigure() */
+     688          84 : void AltGeneric::callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     689             : 
+     690          84 :   if (!isInitialized()) {
+     691          84 :     return;
+     692             :   }
+     693             : 
+     694           0 :   Q_t Q;
+     695           0 :   Q(POSITION, POSITION)         = config.pos;
+     696           0 :   Q(VELOCITY, VELOCITY)         = config.vel;
+     697           0 :   Q(ACCELERATION, ACCELERATION) = config.acc;
+     698           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     699             : }
+     700             : /*//}*/
+     701             : 
+     702             : /*//{ getNamespacedName() */
+     703         548 : std::string AltGeneric::getNamespacedName() const {
+     704        1096 :   return parent_state_est_name_ + "/" + getName();
+     705             : }
+     706             : /*//}*/
+     707             : 
+     708             : /*//{ getPrintName() */
+     709         644 : std::string AltGeneric::getPrintName() const {
+     710        1288 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     711             : }
+     712             : /*//}*/
+     713             : };  // namespace mrs_uav_state_estimators
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::HdgGeneric::isConverged()0
mrs_uav_state_estimators::HdgGeneric::timerUpdate(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)0
mrs_uav_state_estimators::HdgGeneric::setInputCoeff(double const&)0
mrs_uav_state_estimators::HdgGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::callbackReconfigure(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
mrs_uav_state_estimators::HdgGeneric::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgGeneric::pause()0
mrs_uav_state_estimators::HdgGeneric::reset()0
mrs_uav_state_estimators::HdgGeneric::setDt(double const&)0
mrs_uav_state_estimators::HdgGeneric::start()0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::generateA()0
mrs_uav_state_estimators::HdgGeneric::generateB()0
mrs_uav_state_estimators::HdgGeneric::setStates(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_uav_state_estimators::HdgGeneric::getPrintName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getLastValidHdg() const0
mrs_uav_state_estimators::HdgGeneric::getNamespacedName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovarianceMatrix() const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getStates() const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t)#2}::operator()(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t) const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(int, int)#1}::operator()(int, int) const0
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::HdgGeneric::isConverged()0
mrs_uav_state_estimators::HdgGeneric::timerUpdate(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)0
mrs_uav_state_estimators::HdgGeneric::setInputCoeff(double const&)0
mrs_uav_state_estimators::HdgGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::callbackReconfigure(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
mrs_uav_state_estimators::HdgGeneric::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgGeneric::pause()0
mrs_uav_state_estimators::HdgGeneric::reset()0
mrs_uav_state_estimators::HdgGeneric::setDt(double const&)0
mrs_uav_state_estimators::HdgGeneric::start()0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::generateA()0
mrs_uav_state_estimators::HdgGeneric::generateB()0
mrs_uav_state_estimators::HdgGeneric::setStates(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_uav_state_estimators::HdgGeneric::getPrintName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getLastValidHdg() const0
mrs_uav_state_estimators::HdgGeneric::getNamespacedName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovarianceMatrix() const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getStates() const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t)#2}::operator()(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t) const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(int, int)#1}::operator()(int, int) const0
+
+
+ + + +
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..109276f252 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.html @@ -0,0 +1,754 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2023-12-06 10:06:33Functions:0310.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/heading/hdg_generic.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14           0 : void HdgGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16           0 :   ch_ = ch;
+      17           0 :   ph_ = ph;
+      18             : 
+      19           0 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // clang-format off
+      22           0 :   dt_ = 0.01;
+      23           0 :   input_coeff_ = 20;
+      24           0 :   default_input_coeff_ = 20;
+      25             : 
+      26           0 :   generateA();
+      27           0 :   generateB();
+      28             : 
+      29           0 :   H_ <<
+      30           0 :     1, 0;
+      31             : 
+      32             :   // clang-format on
+      33             : 
+      34             :   // | --------------- initialize parameter loader -------------- |
+      35             : 
+      36           0 :   if (is_core_plugin_) {
+      37             : 
+      38           0 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      39           0 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      40             :   }
+      41             : 
+      42           0 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      43             : 
+      44             :   // | --------------------- load parameters -------------------- |
+      45           0 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      46           0 :   ph->param_loader->loadParam("position_innovation_limit", pos_innovation_limit_);
+      47           0 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      48           0 :   if (is_repredictor_enabled_) {
+      49           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      50             :   }
+      51             : 
+      52             :   // | --------------- corrections initialization --------------- |
+      53           0 :   ph->param_loader->loadParam("corrections", correction_names_);
+      54             : 
+      55           0 :   for (auto corr_name : correction_names_) {
+      56           0 :     corrections_.push_back(std::make_shared<Correction<hdg_generic::n_measurements>>(
+      57           0 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::HEADING, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      58           0 :         [this](const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      59           0 :           return this->doCorrection(meas, R, state);
+      60             :         }));
+      61             :   }
+      62             : 
+      63           0 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      64             : 
+      65             :   // | ----------- initialize process noise covariance ---------- |
+      66           0 :   Q_ = Q_t::Zero();
+      67             :   double tmp_noise;
+      68           0 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      69           0 :   Q_(POSITION, POSITION) = tmp_noise;
+      70           0 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      71           0 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      72             : 
+      73             :   // | ------- check if all parameters loaded successfully ------ |
+      74           0 :   if (!ph->param_loader->loadedSuccessfully()) {
+      75           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      76           0 :     ros::shutdown();
+      77             :   }
+      78             : 
+      79             :   // | ------------- initialize dynamic reconfigure ------------- |
+      80             :   drmgr_ =
+      81           0 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&HdgGeneric::callbackReconfigure, this, _1, _2));
+      82           0 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      83           0 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      84           0 :   drmgr_->update_config(drmgr_->config);
+      85             : 
+      86             :   // | --------------- Kalman filter intialization -------------- |
+      87           0 :   const x_t        x0 = x_t::Zero();
+      88           0 :   const P_t        P0 = 1e3 * P_t::Identity();
+      89           0 :   const statecov_t sc0({x0, P0});
+      90           0 :   sc_ = sc0;
+      91             : 
+      92           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+      93           0 :   if (is_repredictor_enabled_) {
+      94             : 
+      95           0 :     for (int i = 0; i < hdg_generic::n_states; i++) {
+      96           0 :       H_t H = H_t::Zero();
+      97           0 :       H(i)  = 1;
+      98           0 :       models_.push_back(std::make_shared<lkf_t>(A_, B_, H));
+      99             :     }
+     100             : 
+     101           0 :     const u_t       u0 = u_t::Zero();
+     102           0 :     const ros::Time t0 = ros::Time::now();
+     103           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     104             : 
+     105           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     106             :   }
+     107             : 
+     108             :   // | ------------------ timers initialization ----------------- |
+     109           0 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgGeneric::timerUpdate, this);  // not running after init
+     110             :   /* timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgGeneric::timerCheckHealth, this); */
+     111             : 
+     112             :   // | --------------- subscribers initialization --------------- |
+     113             :   // subscriber to odometry
+     114           0 :   mrs_lib::SubscribeHandlerOptions shopts;
+     115           0 :   shopts.nh                 = nh;
+     116           0 :   shopts.node_name          = getPrintName();
+     117           0 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     118           0 :   shopts.threadsafe         = true;
+     119           0 :   shopts.autostart          = true;
+     120           0 :   shopts.queue_size         = 10;
+     121           0 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     122             : 
+     123           0 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     124             : 
+     125             :   // | ---------------- publishers initialization --------------- |
+     126           0 :   if (ch_->debug_topics.input) {
+     127           0 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     128             :   }
+     129           0 :   if (ch_->debug_topics.output) {
+     130           0 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     131             :   }
+     132           0 :   if (ch_->debug_topics.diag) {
+     133           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     134             :   }
+     135             : 
+     136             :   // | ------------------ finish initialization ----------------- |
+     137             : 
+     138           0 :   if (changeState(INITIALIZED_STATE)) {
+     139           0 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     140             :   } else {
+     141           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     142             :   }
+     143           0 : }
+     144             : /*//}*/
+     145             : 
+     146             : /*//{ start() */
+     147           0 : bool HdgGeneric::start(void) {
+     148             : 
+     149           0 :   if (isInState(READY_STATE)) {
+     150             :     /* timer_update_.start(); */
+     151           0 :     changeState(STARTED_STATE);
+     152           0 :     return true;
+     153             : 
+     154             :   } else {
+     155           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     156           0 :     return false;
+     157             :   }
+     158             : }
+     159             : /*//}*/
+     160             : 
+     161             : /*//{ pause() */
+     162           0 : bool HdgGeneric::pause(void) {
+     163             : 
+     164           0 :   if (isInState(RUNNING_STATE)) {
+     165           0 :     changeState(STOPPED_STATE);
+     166           0 :     return true;
+     167             : 
+     168             :   } else {
+     169           0 :     return false;
+     170             :   }
+     171             : }
+     172             : /*//}*/
+     173             : 
+     174             : /*//{ reset() */
+     175           0 : bool HdgGeneric::reset(void) {
+     176             : 
+     177           0 :   if (!isInitialized()) {
+     178           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     179           0 :     return false;
+     180             :   }
+     181             : 
+     182           0 :   changeState(STOPPED_STATE);
+     183             : 
+     184             :   // Initialize LKF state and covariance
+     185           0 :   const x_t        x0 = x_t::Zero();
+     186           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     187           0 :   const statecov_t sc0({x0, P0});
+     188           0 :   sc_ = sc0;
+     189             : 
+     190             :   // Instantiate the LKF itself
+     191           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     192           0 :   if (is_repredictor_enabled_) {
+     193             : 
+     194           0 :     const u_t       u0 = u_t::Zero();
+     195           0 :     const ros::Time t0 = ros::Time(0);
+     196           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     197             :   }
+     198             : 
+     199           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     200             : 
+     201           0 :   return true;
+     202             : }
+     203             : /*//}*/
+     204             : 
+     205             : /* timerUpdate() //{*/
+     206           0 : void HdgGeneric::timerUpdate(const ros::TimerEvent &event) {
+     207             : 
+     208           0 :   if (!isInitialized()) {
+     209           0 :     return;
+     210             :   }
+     211             : 
+     212           0 :   switch (getCurrentSmState()) {
+     213             : 
+     214           0 :     case UNINITIALIZED_STATE: {
+     215           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     216           0 :       break;
+     217             :     }
+     218             : 
+     219           0 :     case READY_STATE: {
+     220           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     221           0 :       break;
+     222             :     }
+     223             : 
+     224           0 :     case INITIALIZED_STATE: {
+     225             :       // initialize the estimator with current corrections
+     226           0 :       for (auto correction : corrections_) {
+     227           0 :         auto res = correction->getProcessedCorrection();
+     228           0 :         if (res) {
+     229           0 :           auto measurement_stamped = res.value();
+     230           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     231           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
+     232             :         } else {
+     233           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     234             :                             correction->getNamespacedName().c_str());
+     235           0 :           return;
+     236             :         }
+     237             :       }
+     238           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     239           0 :       changeState(READY_STATE);
+     240           0 :       break;
+     241             :     }
+     242             : 
+     243           0 :     case STARTED_STATE: {
+     244           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     245           0 :       if (isConverged()) {
+     246           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     247           0 :         changeState(RUNNING_STATE);
+     248             :       }
+     249           0 :       break;
+     250             :     }
+     251             : 
+     252           0 :     case RUNNING_STATE: {
+     253           0 :       for (auto correction : corrections_) {
+     254           0 :         if (!correction->isHealthy()) {
+     255           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     256           0 :           changeState(ERROR_STATE);
+     257             :         }
+     258             :       }
+     259           0 :       break;
+     260             :     }
+     261             : 
+     262           0 :     case STOPPED_STATE: {
+     263           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     264           0 :       break;
+     265             :     }
+     266             : 
+     267           0 :     case ERROR_STATE: {
+     268           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     269           0 :       bool all_corrections_healthy = true;
+     270           0 :       for (auto correction : corrections_) {
+     271           0 :         if (!correction->isHealthy()) {
+     272           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     273           0 :           all_corrections_healthy = false;
+     274             :         }
+     275             :       }
+     276             :       // initialize the estimator again if corrections become healthy
+     277           0 :       if (all_corrections_healthy && innovation_ok_) {
+     278           0 :         changeState(INITIALIZED_STATE);
+     279             :       }
+     280           0 :       break;
+     281             :     }
+     282             :   }
+     283             : 
+     284           0 :   if (sh_control_input_.newMsg()) {
+     285           0 :     is_input_ready_ = true;
+     286             :   }
+     287             : 
+     288             :   // check age of input
+     289           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     290           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     291             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     292           0 :     is_input_ready_ = false;
+     293             :   }
+     294             : 
+     295           0 :   if (!isRunning() && !isStarted()) {
+     296           0 :     return;
+     297             :   }
+     298             : 
+     299           0 :   if (first_iter_) {
+     300           0 :     first_iter_ = false;
+     301           0 :     return;
+     302             :   }
+     303             : 
+     304           0 :   double dt = (event.current_real - event.last_real).toSec();
+     305           0 :   if (dt <= 0.0) {
+     306           0 :     return;
+     307             :   }
+     308             : 
+     309           0 :   if (!is_repredictor_enabled_) {  // repredictor requires constant dt
+     310           0 :     setDt(dt);
+     311             :   }
+     312             : 
+     313             :   // go through available corrections and apply them
+     314             :   /* for (auto correction : corrections_) { */
+     315             :   /*   auto res = correction->getProcessedCorrection(); */
+     316             :   /*   if (res) { */
+     317             :   /*     auto measurement_stamped = res.value(); */
+     318             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     319             :   /*   } */
+     320             :   /* } */
+     321             : 
+     322             :   // prediction step
+     323           0 :   u_t       u;
+     324           0 :   ros::Time input_stamp;
+     325           0 :   if (is_input_ready_) {
+     326           0 :     input_stamp = sh_control_input_.getMsg()->header.stamp;
+     327           0 :     setInputCoeff(default_input_coeff_);
+     328           0 :     u(0) = sh_control_input_.getMsg()->control_hdg_rate;
+     329             :   } else {
+     330           0 :     input_stamp = ros::Time::now();
+     331           0 :     setInputCoeff(0);
+     332           0 :     u = u_t::Zero();
+     333             :   }
+     334             : 
+     335           0 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     336           0 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     337             :   try {
+     338             :     // Apply the prediction step
+     339           0 :     std::scoped_lock lock(mutex_lkf_);
+     340           0 :     if (is_repredictor_enabled_) {
+     341           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, lkf_);
+     342           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     343             :     } else {
+     344           0 :       sc = lkf_->predict(sc, u, Q, dt_);
+     345             :     }
+     346             :   }
+     347           0 :   catch (const std::exception &e) {
+     348             :     // In case of error, alert the user
+     349           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     350             :   }
+     351             : 
+     352           0 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     353             : 
+     354           0 :   if (!isError()) {
+     355           0 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, sc.x(POSITION), last_valid_hdg_);
+     356             :   }
+     357             : 
+     358             :   // publishing
+     359           0 :   publishInput(u, input_stamp);
+     360           0 :   publishOutput();
+     361           0 :   publishDiagnostics();
+     362             : }
+     363             : /*//}*/
+     364             : 
+     365             : /*//{ timerCheckHealth() */
+     366           0 : void HdgGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+     367             : 
+     368           0 :   if (!isInitialized()) {
+     369           0 :     return;
+     370             :   }
+     371             : 
+     372           0 :   switch (getCurrentSmState()) {
+     373             : 
+     374           0 :     case UNINITIALIZED_STATE: {
+     375           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     376           0 :       break;
+     377             :     }
+     378             : 
+     379           0 :     case READY_STATE: {
+     380           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     381           0 :       break;
+     382             :     }
+     383             : 
+     384           0 :     case INITIALIZED_STATE: {
+     385             :       // initialize the estimator with current corrections
+     386           0 :       for (auto correction : corrections_) {
+     387           0 :         auto res = correction->getProcessedCorrection();
+     388           0 :         if (res) {
+     389           0 :           auto measurement_stamped = res.value();
+     390           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     391           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
+     392             :         } else {
+     393           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     394             :                             correction->getNamespacedName().c_str());
+     395           0 :           return;
+     396             :         }
+     397             :       }
+     398           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     399           0 :       changeState(READY_STATE);
+     400           0 :       break;
+     401             :     }
+     402             : 
+     403           0 :     case STARTED_STATE: {
+     404           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     405           0 :       if (isConverged()) {
+     406           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     407           0 :         changeState(RUNNING_STATE);
+     408             :       }
+     409           0 :       break;
+     410             :     }
+     411             : 
+     412           0 :     case RUNNING_STATE: {
+     413           0 :       for (auto correction : corrections_) {
+     414           0 :         if (!correction->isHealthy()) {
+     415           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     416           0 :           changeState(ERROR_STATE);
+     417             :         }
+     418             :       }
+     419           0 :       break;
+     420             :     }
+     421             : 
+     422           0 :     case STOPPED_STATE: {
+     423           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     424           0 :       break;
+     425             :     }
+     426             : 
+     427           0 :     case ERROR_STATE: {
+     428           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     429           0 :       bool all_corrections_healthy = true;
+     430           0 :       for (auto correction : corrections_) {
+     431           0 :         if (!correction->isHealthy()) {
+     432           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     433           0 :           all_corrections_healthy = false;
+     434             :         }
+     435             :       }
+     436             :       // initialize the estimator again if corrections become healthy
+     437           0 :       if (all_corrections_healthy) {
+     438           0 :         changeState(INITIALIZED_STATE);
+     439             :       }
+     440           0 :       break;
+     441             :     }
+     442             :   }
+     443             : 
+     444           0 :   if (sh_control_input_.newMsg()) {
+     445           0 :     is_input_ready_ = true;
+     446             :   }
+     447             : 
+     448             :   // check age of input
+     449           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     450           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     451             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     452           0 :     is_input_ready_ = false;
+     453             :   }
+     454             : }
+     455             : /*//}*/
+     456             : 
+     457             : /*//{ doCorrection() */
+     458           0 : void HdgGeneric::doCorrection(const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     459           0 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     460           0 : }
+     461             : /*//}*/
+     462             : 
+     463             : /*//{ doCorrection() */
+     464           0 : void HdgGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     465             : 
+     466           0 :   if (!isInitialized()) {
+     467           0 :     return;
+     468             :   }
+     469             : 
+     470             :   // copy measurement as we might need to modify it (unwrap)
+     471           0 :   z_t meas = z;
+     472             : 
+     473             :   // we do not want to perform corrections until the estimator is initialized
+     474           0 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     475           0 :     return;
+     476             :   }
+     477             : 
+     478           0 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     479             : 
+     480             :   // for position state check the innovation
+     481           0 :   if (H_idx == POSITION) {
+     482             : 
+     483             :     // unwrap the hdg measurement wrt current state
+     484           0 :     meas(POSITION) = mrs_lib::geometry::radians::unwrap(meas(POSITION), sc.x(POSITION));
+     485             : 
+     486           0 :     std::scoped_lock lock(mtx_innovation_);
+     487             : 
+     488           0 :     innovation_(0) = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(meas(0)), mrs_lib::geometry::radians(sc.x(POSITION)));
+     489             : 
+     490           0 :     if (fabs(innovation_(0)) > pos_innovation_limit_) {
+     491           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - hdg: %.2f", getPrintName().c_str(), innovation_(0));
+     492           0 :       innovation_ok_ = false;
+     493           0 :       changeState(ERROR_STATE);
+     494             :     }
+     495             :   }
+     496             : 
+     497             :   try {
+     498             :     // Apply the correction step
+     499             :     {
+     500           0 :       std::scoped_lock lock(mutex_lkf_);
+     501           0 :       H_        = H_t::Zero();
+     502           0 :       H_(H_idx) = 1;
+     503           0 :       lkf_->H   = H_;
+     504           0 :       if (is_repredictor_enabled_) {
+     505           0 :         lkf_rep_->addMeasurement(meas, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     506             :       } else {
+     507           0 :         sc = lkf_->correct(sc, meas, R_t::Ones() * R);
+     508             :       }
+     509             :     }
+     510           0 :     innovation_ok_ = true;
+     511             :   }
+     512           0 :   catch (const std::exception &e) {
+     513             :     // In case of error, alert the user
+     514           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     515             :   }
+     516             : 
+     517           0 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     518             : }
+     519             : /*//}*/
+     520             : 
+     521             : /*//{ isConverged() */
+     522           0 : bool HdgGeneric::isConverged() {
+     523             : 
+     524             :   // TODO: check convergence by rate of change of determinant
+     525             : 
+     526           0 :   return true;
+     527             : }
+     528             : /*//}*/
+     529             : 
+     530             : /*//{ getState() */
+     531           0 : double HdgGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     532           0 :   return getState(stateIdToIndex(state_id_in, 0));
+     533             : }
+     534             : 
+     535           0 : double HdgGeneric::getState(const int &state_idx_in) const {
+     536           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     537             : }
+     538             : /*//}*/
+     539             : 
+     540             : /*//{ setState() */
+     541           0 : void HdgGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     542           0 :   setState(state_in, stateIdToIndex(state_id_in, 0));
+     543           0 : }
+     544             : 
+     545           0 : void HdgGeneric::setState(const double &state_in, const int &state_idx_in) {
+     546           0 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     547           0 : }
+     548             : /*//}*/
+     549             : 
+     550             : /*//{ getStates() */
+     551           0 : HdgGeneric::states_t HdgGeneric::getStates(void) const {
+     552           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     553             : }
+     554             : /*//}*/
+     555             : 
+     556             : /*//{ setStates() */
+     557           0 : void HdgGeneric::setStates(const states_t &states_in) {
+     558           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     559           0 : }
+     560             : /*//}*/
+     561             : 
+     562             : /*//{ getCovariance() */
+     563           0 : double HdgGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     564           0 :   return getCovariance(stateIdToIndex(state_id_in, 0));
+     565             : }
+     566             : 
+     567           0 : double HdgGeneric::getCovariance(const int &state_idx_in) const {
+     568           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     569             : }
+     570             : /*//}*/
+     571             : 
+     572             : /*//{ getCovarianceMatrix() */
+     573           0 : HdgGeneric::covariance_t HdgGeneric::getCovarianceMatrix(void) const {
+     574           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     575             : }
+     576             : /*//}*/
+     577             : 
+     578             : /*//{ setCovarianceMatrix() */
+     579           0 : void HdgGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     580           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     581           0 : }
+     582             : /*//}*/
+     583             : 
+     584             : /*//{ getInnovation() */
+     585           0 : double HdgGeneric::getInnovation(const int &state_idx) const {
+     586           0 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     587             : }
+     588             : 
+     589           0 : double HdgGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     590           0 :   return getInnovation(stateIdToIndex(0, 0));
+     591             : }
+     592             : /*//}*/
+     593             : 
+     594             : /*//{ setDt() */
+     595           0 : void HdgGeneric::setDt(const double &dt) {
+     596           0 :   dt_ = dt;
+     597           0 :   generateA();
+     598           0 :   generateB();
+     599           0 :   std::scoped_lock lock(mutex_lkf_);
+     600           0 :   lkf_->A = A_;
+     601           0 :   lkf_->B = B_;
+     602           0 : }
+     603             : /*//}*/
+     604             : 
+     605             : /*//{ setInputCoeff() */
+     606           0 : void HdgGeneric::setInputCoeff(const double &input_coeff) {
+     607           0 :   input_coeff_ = input_coeff;
+     608           0 :   generateA();
+     609           0 :   generateB();
+     610           0 :   std::scoped_lock lock(mutex_lkf_);
+     611           0 :   lkf_->A = A_;
+     612           0 :   lkf_->B = B_;
+     613           0 : }
+     614             : /*//}*/
+     615             : 
+     616             : /*//{ generateA() */
+     617           0 : void HdgGeneric::generateA() {
+     618             : 
+     619             :   // clang-format off
+     620           0 :     A_ <<
+     621           0 :       1, dt_,
+     622           0 :       0, 1-(input_coeff_ * dt_);
+     623             :   // clang-format on
+     624           0 : }
+     625             : /*//}*/
+     626             : 
+     627             : /*//{ generateB() */
+     628           0 : void HdgGeneric::generateB() {
+     629             : 
+     630             :   // clang-format off
+     631           0 :     B_ <<
+     632             :       0,
+     633           0 :       (input_coeff_ * dt_);
+     634             :   // clang-format on
+     635           0 : }
+     636             : /*//}*/
+     637             : 
+     638             : /*//{ getLastValidHdg() */
+     639           0 : double HdgGeneric::getLastValidHdg() const {
+     640           0 :   return mrs_lib::get_mutexed(mutex_last_valid_hdg_, last_valid_hdg_);
+     641             : }
+     642             : /*//}*/
+     643             : 
+     644             : /*//{ callbackReconfigure() */
+     645           0 : void HdgGeneric::callbackReconfigure(HeadingEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     646             : 
+     647           0 :   if (!isInitialized()) {
+     648           0 :     return;
+     649             :   }
+     650             : 
+     651           0 :   Q_t Q;
+     652           0 :   Q(POSITION, POSITION) = config.pos;
+     653           0 :   Q(VELOCITY, VELOCITY) = config.vel;
+     654           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     655             : }
+     656             : /*//}*/
+     657             : 
+     658             : /*//{ getNamespacedName() */
+     659           0 : std::string HdgGeneric::getNamespacedName() const {
+     660           0 :   return parent_state_est_name_ + "/" + getName();
+     661             : }
+     662             : /*//}*/
+     663             : 
+     664             : /*//{ getPrintName() */
+     665           0 : std::string HdgGeneric::getPrintName() const {
+     666           0 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     667             : }
+     668             : /*//}*/
+     669             : 
+     670             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.overview.html new file mode 100644 index 0000000000..359f76a76f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.overview.html @@ -0,0 +1,188 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..0b09042fa36a2f106e7a304e58266487570d373d GIT binary patch literal 2195 zcmV;E2yFL>P)2nt zU)m3A)4%)2dJ%latVl(VUKl_c!Xrkg5)Z5AOhSBV3s~CEh*2If;fdZAW7H=FgE>d8 zdDx##b~byC)P}%E7~VGq2q6P*3df~p#}*YF{lSo}$?ow9VLJaPS%zOau9_v4cnpf6 zJR($IpQ5(*zddHcG>0=6Sf)mJLN=zyEFcjEt+N; z)Z_Q-GiUwH$=#?PSq_<{3HRTm=L<$hrP;o_wFveKk5`5i3ZEQP@}{|wKnNEjfF*jf zG&DzC@+vq&m)7bW!i)uB_IZJjz(g{A$Z-K-V5v=Mt2LmP zBZN0ibZNgQSo_tEE7o_eCfwxi>N*py#;FRDf$QD2AjI4dcS4g;(T~xA(DRfnBoT(+ zSaI9@T6HvaEq5u7&ujCZBB7V^$C}AXXrC5lrO5jE5+32PpPNlF()ub*4-_2dtYr#A z$cOi-+-BOex+Sc&DH6Icqp)_nv`XkuVf>`6#a$u<2U)s@pMwXVxeJQH(}%*K-(68J ztd@4N!gu}j+$E$l$CegXCYh9Knfqc7Jlgz`mz+qQzU@K476&9ZZRqb7D8w0EI3TU% zsR`F3NN1)MDZ`l&%fxI|B`jr=6*W{hgMmvZ9&Pt}+~WFv;` zUL#06Y6iz)20NLurydxOftenfpO2mw6o0I60tz|sn7aJn*0Q!nHjoP}0}l|l<9&sB zuY&E{w6yfUb7G&;q2uEV6+MODc(gx!$dw7PL+)k3O{rOtm>yEk3Pt9Dly0ywk zbGYvzgY<^;lud%`+xx~qx#mWQUWxe)h2tRwIBYgv82xxNWmJ9gYXrKNITtYFvs_^< z_BrYbw+l1AUq?g~x$#a|9Ekah_esF@Cq8M$bAdY*r`K?iBXyJJoX^)nJ0V)OVNdYG zTf^Q3mu$++NP=(KSLm>NO<%zu*VVhgS(t2PF7@Nevo36hE+$DC;rl2+F3%|Wz;)_L zQrlRz>J$rZJMPJWspV1C;@!e*y3Q~t5m8*dwB9Jdq2hkaL|H6J3is+9;Ssu0eMJDs z&wVVUX4#Zh_L^R}%on?kTmfd8w!5`+>P_ZRk$(wiX_AU?`s7|`n)=g(EKk^uPxZ+! z-TpPN9*hnj>57{|XZ9i`0E&bu&9Cu`B6FKv!?ygD{*ir>R zix)N^Y@_fx9|)kZ^+l7WcJ7P&Adevh&`?=4ayojN>Qq=VCx6u~?zE&6v?rPjdYHlx z2A^uiy>%=Qo}E7$lJ)!Cr~_Q}e}?SU-QBb4&y?nKGyq`2y#1NCKlAoyBH`Pg zdHXXBkL&%e@b+go!nZ%uSNPkXdHXZ%j1K|sFZ5@mAo=!Zy6}DbGX==y8Bgoa+qh;=j>~X?Sc{ zWdK)?@6UYv`k#e7)ENr4pTL&zJ^0zp@5c!+y%>kOEabTKdrjzJVx~3Gtwd#Wwfz1S-_@r&Tm9EXJCZT+8%;OPQ$k) z9~1t_CfJ{WnKTT1L_KaFw60j3(P^(Y2!yWlKs6yen!1K!0d2PL=z)4e;jCcEY;nT1 zAw;)f*fIp*T^`ZU{Qqn=J)!rZ-D+4Ne2?yh>57KW3`ml4NY0;l7%0BeK$~~1G@f3A zlq${sldJnPiM)C31S~Z?L>{a9Jj)~b|F2o55<1mfN+Z!%FjbP5V&YPRbOz#avk()c z*0c%vkHb8!y<~?H4qHaOdBuXOL1PDx4UZ4NBOrAnZEP3Rw{aL-Gjcz{)~ejB1!GM$ zeGYF-V^0Z{8~%m(NO^R{g#iJN)J~g~o`6TyIJ^+_N476@Bg}6|&C43?7XuLMh5qZX z)XX3Aga@QP?uA9rmAtTQ3=c^Sj}DJ|q+lQOza5X`@6gx}Jsgh%?>P74d_v`59|#dH zal+qlE+#rMPj*!Aitm-0UK92RhfO$`o1O6{8~iQ)18<*~$|oFQ#+po+Ha=y>*M#Sp z5L(*AdYIZ9{vi{pR&4im{{EnRR;a?;{TaZ~j5H3Hh5EOepGJjj5+>;(boh8)MhP=y z+8SISdr*j literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func-sort-c.html new file mode 100644 index 0000000000..3f0857ac04 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func-sort-c.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8813167.2 %
Date:2023-12-06 10:06:33Functions: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&)44
mrs_uav_state_estimators::HdgPassthrough::start()77
mrs_uav_state_estimators::HdgPassthrough::getNamespacedName[abi:cxx11]() const88
mrs_uav_state_estimators::HdgPassthrough::getPrintName[abi:cxx11]() const260
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)50001
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const50001
mrs_uav_state_estimators::HdgPassthrough::getStates() const50001
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)51250
mrs_uav_state_estimators::HdgPassthrough::callbackAngularVelocity(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)115761
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)119613
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const181753
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)235350
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html new file mode 100644 index 0000000000..c0f4ab8d0b --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8813167.2 %
Date:2023-12-06 10:06:33Functions: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&)44
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)50001
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)51250
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)119613
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>)115761
mrs_uav_state_estimators::HdgPassthrough::pause()0
mrs_uav_state_estimators::HdgPassthrough::reset()0
mrs_uav_state_estimators::HdgPassthrough::start()77
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)235350
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]() const260
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]() const88
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const50001
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const181753
mrs_uav_state_estimators::HdgPassthrough::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getStates() const50001
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.frameset.html new file mode 100644 index 0000000000..e033217e8c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.html new file mode 100644 index 0000000000..c8526e1cb5 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.gcov.html @@ -0,0 +1,387 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8813167.2 %
Date:2023-12-06 10:06:33Functions:122352.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14          44 : void HdgPassthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          44 :   ch_ = ch;
+      17          44 :   ph_ = ph;
+      18             : 
+      19          44 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21          44 :   hdg_state_      = states_t::Zero();
+      22          44 :   hdg_covariance_ = covariance_t::Zero();
+      23             : 
+      24             :   // | --------------- param loader initialization --------------- |
+      25             : 
+      26          44 :   if (is_core_plugin_) {
+      27             : 
+      28          44 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      29          44 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          44 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      33             : 
+      34             :   // | --------------------- load parameters -------------------- |
+      35          44 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      36             : 
+      37          44 :   ph->param_loader->loadParam("topics/orientation", orient_topic_);
+      38          44 :   ph->param_loader->loadParam("topics/angular_velocity", ang_vel_topic_);
+      39             : 
+      40          44 :   if (!ph->param_loader->loadedSuccessfully()) {
+      41           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      42           0 :     ros::shutdown();
+      43             :   }
+      44             : 
+      45             :   // | ------------------ timers initialization ----------------- |
+      46          44 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerUpdate, this, false, false);  // not running after init
+      47          44 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerCheckHealth, this);
+      48             : 
+      49             :   // | --------------- subscribers initialization --------------- |
+      50             :   // subscriber to odometry
+      51          88 :   mrs_lib::SubscribeHandlerOptions shopts;
+      52          44 :   shopts.nh                 = nh;
+      53          44 :   shopts.node_name          = getPrintName();
+      54          44 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      55          44 :   shopts.threadsafe         = true;
+      56          44 :   shopts.autostart          = true;
+      57          44 :   shopts.queue_size         = 10;
+      58          44 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      59             : 
+      60          88 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orient_topic_,
+      61          44 :                                                                                 &HdgPassthrough::callbackOrientation, this);
+      62          88 :   sh_ang_vel_     = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, "/" + ch_->uav_name + "/" + ang_vel_topic_,
+      63          44 :                                                                          &HdgPassthrough::callbackAngularVelocity, this);
+      64             : 
+      65             :   // | ---------------- publishers initialization --------------- |
+      66          44 :   if (ch_->debug_topics.output) {
+      67          44 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+      68             :   }
+      69          44 :   if (ch_->debug_topics.diag) {
+      70           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+      71             :   }
+      72             : 
+      73             :   // | ------------------ finish initialization ----------------- |
+      74             : 
+      75          44 :   if (changeState(INITIALIZED_STATE)) {
+      76          44 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+      77             :   } else {
+      78           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      79             :   }
+      80          44 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84          77 : bool HdgPassthrough::start(void) {
+      85             : 
+      86          77 :   if (isInState(READY_STATE)) {
+      87          44 :     timer_update_.start();
+      88          44 :     changeState(STARTED_STATE);
+      89          44 :     return true;
+      90             : 
+      91             :   } else {
+      92          33 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+      93          33 :     return false;
+      94             :   }
+      95             : }
+      96             : /*//}*/
+      97             : 
+      98             : /*//{ pause() */
+      99           0 : bool HdgPassthrough::pause(void) {
+     100             : 
+     101           0 :   if (isInState(RUNNING_STATE)) {
+     102           0 :     changeState(STOPPED_STATE);
+     103           0 :     return true;
+     104             : 
+     105             :   } else {
+     106           0 :     return false;
+     107             :   }
+     108             : }
+     109             : /*//}*/
+     110             : 
+     111             : /*//{ reset() */
+     112           0 : bool HdgPassthrough::reset(void) {
+     113             : 
+     114           0 :   if (!isInitialized()) {
+     115           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     116           0 :     return false;
+     117             :   }
+     118             : 
+     119           0 :   changeState(STOPPED_STATE);
+     120             : 
+     121           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     122             : 
+     123           0 :   return true;
+     124             : }
+     125             : /*//}*/
+     126             : 
+     127             : /*//{ callbackOrientation() */
+     128      119613 : void HdgPassthrough::callbackOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     129             : 
+     130      119613 :   if (!isInitialized()) {
+     131          23 :     return;
+     132             :   }
+     133             : 
+     134             :   double hdg;
+     135             :   try {
+     136      119590 :     hdg = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     137             :   }
+     138           0 :   catch (...) {
+     139           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading", getPrintName().c_str());
+     140             :   }
+     141             : 
+     142      119590 :   setState(hdg, POSITION);
+     143             : 
+     144      119590 :   if (!isError()) {
+     145      119590 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, hdg, last_valid_hdg_);
+     146             :   }
+     147             : }
+     148             : /*//}*/
+     149             : 
+     150             : /*//{ callbackAngularVelocity() */
+     151      115761 : void HdgPassthrough::callbackAngularVelocity(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+     152             : 
+     153      115761 :   if (!isInitialized() || !sh_orientation_.hasMsg()) {
+     154           0 :     return;
+     155             :   }
+     156             : 
+     157             :   double hdg_rate;
+     158             :   try {
+     159      115761 :     hdg_rate = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+     160             :   }
+     161           0 :   catch (...) {
+     162           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading", getPrintName().c_str());
+     163             :   }
+     164             : 
+     165      115761 :   setState(hdg_rate, VELOCITY);
+     166             : }
+     167             : /*//}*/
+     168             : 
+     169             : /* timerUpdate() //{*/
+     170       50001 : void HdgPassthrough::timerUpdate(const ros::TimerEvent &event) {
+     171             : 
+     172             : 
+     173       50001 :   if (!isInitialized()) {
+     174           0 :     return;
+     175             :   }
+     176             : 
+     177       50001 :   publishOutput();
+     178       50001 :   publishDiagnostics();
+     179             : }
+     180             : /*//}*/
+     181             : 
+     182             : /*//{ timerCheckHealth() */
+     183       51250 : void HdgPassthrough::timerCheckHealth(const ros::TimerEvent &event) {
+     184             : 
+     185       51250 :   if (!isInitialized()) {
+     186           6 :     return;
+     187             :   }
+     188             : 
+     189       51244 :   if (isInState(INITIALIZED_STATE) && is_orient_ready_ && is_ang_vel_ready_) {
+     190             : 
+     191          44 :     changeState(READY_STATE);
+     192          44 :     ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     193             :   }
+     194             : 
+     195       51244 :   if (isInState(STARTED_STATE)) {
+     196             : 
+     197          44 :     ROS_INFO_THROTTLE(1.0, "[%s]: Estimator Running", getPrintName().c_str());
+     198          44 :     changeState(RUNNING_STATE);
+     199             :   }
+     200             : 
+     201       51244 :   if (sh_orientation_.hasMsg()) {
+     202       50815 :     is_orient_ready_ = true;
+     203             :   } else {
+     204         429 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation yet", getPrintName().c_str());
+     205             :   }
+     206             : 
+     207       51244 :   if (sh_ang_vel_.hasMsg()) {
+     208       50108 :     is_ang_vel_ready_ = true;
+     209             :   } else {
+     210        1136 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received angular velocity yet", getPrintName().c_str());
+     211             :   }
+     212             : }
+     213             : /*//}*/
+     214             : 
+     215             : /*//{ getState() */
+     216           0 : double HdgPassthrough::getState(const int &state_id_in, const int &axis_in) const {
+     217           0 :   return getState(stateIdToIndex(state_id_in, 0));
+     218             : }
+     219             : 
+     220      181753 : double HdgPassthrough::getState(const int &state_idx_in) const {
+     221      181753 :   return mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     222             : }
+     223             : /*//}*/
+     224             : 
+     225             : /*//{ setState() */
+     226           0 : void HdgPassthrough::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     227           0 :   setState(state_in, stateIdToIndex(state_id_in, 0));
+     228           0 : }
+     229             : 
+     230      235350 : void HdgPassthrough::setState(const double &state_in, const int &state_idx_in) {
+     231             : 
+     232      235350 :   const double prev_hdg_state   = mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     233      235351 :   prev_hdg_state_(state_idx_in) = prev_hdg_state;
+     234      235351 :   mrs_lib::set_mutexed(mtx_hdg_state_, state_in, hdg_state_(state_idx_in));
+     235             : 
+     236      235351 :   const double innovation = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(state_in), mrs_lib::geometry::radians(prev_hdg_state));
+     237      235345 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_(state_idx_in));
+     238      235349 : }
+     239             : /*//}*/
+     240             : 
+     241             : /*//{ getStates() */
+     242       50001 : HdgPassthrough::states_t HdgPassthrough::getStates(void) const {
+     243       50001 :   return mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_);
+     244             : }
+     245             : /*//}*/
+     246             : 
+     247             : /*//{ setStates() */
+     248           0 : void HdgPassthrough::setStates(const states_t &states_in) {
+     249           0 :   mrs_lib::set_mutexed(mtx_hdg_state_, states_in, hdg_state_);
+     250           0 : }
+     251             : /*//}*/
+     252             : 
+     253             : /*//{ getCovariance() */
+     254           0 : double HdgPassthrough::getCovariance(const int &state_id_in, const int &axis_in) const {
+     255           0 :   return getCovariance(stateIdToIndex(state_id_in, 0));
+     256             : }
+     257             : 
+     258           0 : double HdgPassthrough::getCovariance(const int &state_idx_in) const {
+     259           0 :   return mrs_lib::get_mutexed(mtx_hdg_covariance_, hdg_covariance_(state_idx_in, state_idx_in));
+     260             : }
+     261             : /*//}*/
+     262             : 
+     263             : /*//{ getCovarianceMatrix() */
+     264       50001 : HdgPassthrough::covariance_t HdgPassthrough::getCovarianceMatrix(void) const {
+     265       50001 :   return mrs_lib::get_mutexed(mtx_hdg_covariance_, hdg_covariance_);
+     266             : }
+     267             : /*//}*/
+     268             : 
+     269             : /*//{ setCovarianceMatrix() */
+     270           0 : void HdgPassthrough::setCovarianceMatrix(const covariance_t &cov_in) {
+     271           0 :   mrs_lib::set_mutexed(mtx_hdg_covariance_, cov_in, hdg_covariance_);
+     272           0 : }
+     273             : /*//}*/
+     274             : 
+     275             : /*//{ getInnovation() */
+     276           0 : double HdgPassthrough::getInnovation(const int &state_idx) const {
+     277           0 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_(state_idx));
+     278             : }
+     279             : 
+     280           0 : double HdgPassthrough::getInnovation(const int &state_id_in, const int &axis_in) const {
+     281           0 :   return getInnovation(stateIdToIndex(state_id_in, 0));
+     282             : }
+     283             : /*//}*/
+     284             : 
+     285             : /*//{ getLastValidHdg() */
+     286           0 : double HdgPassthrough::getLastValidHdg() const {
+     287           0 :   return mrs_lib::get_mutexed(mutex_last_valid_hdg_, last_valid_hdg_);
+     288             : }
+     289             : /*//}*/
+     290             : 
+     291             : /*//{ getNamespacedName() */
+     292          88 : std::string HdgPassthrough::getNamespacedName() const {
+     293         176 :   return parent_state_est_name_ + "/" + getName();
+     294             : }
+     295             : /*//}*/
+     296             : 
+     297             : /*//{ getPrintName() */
+     298         260 : std::string HdgPassthrough::getPrintName() const {
+     299         520 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     300             : }
+     301             : /*//}*/
+     302             : 
+     303             : };  // namespace mrs_uav_state_estimators
+
+
+
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateral - lat_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2023-12-06 10:06:33Functions:253083.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::setCovarianceMatrix(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&)0
mrs_uav_state_estimators::LatGeneric::pause()0
mrs_uav_state_estimators::LatGeneric::reset()0
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)44
mrs_uav_state_estimators::LatGeneric::isConverged()44
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)44
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)142
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)142
mrs_uav_state_estimators::LatGeneric::start()214
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const266
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const400
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) const2054
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)49661
mrs_uav_state_estimators::LatGeneric::setDt(double const&)49661
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const49661
mrs_uav_state_estimators::LatGeneric::getStates() const49661
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)51121
mrs_uav_state_estimators::LatGeneric::generateA()99366
mrs_uav_state_estimators::LatGeneric::generateB()99366
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const99608
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const99608
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&)119397
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)119397
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) const119397
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const199216
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const199216
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const530284
mrs_uav_state_estimators::LatGeneric::getState(int const&) const530290
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateral - lat_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2023-12-06 10:06:33Functions:253083.3 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)44
mrs_uav_state_estimators::LatGeneric::isConverged()44
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)51121
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&)119397
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)119397
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)49661
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)44
mrs_uav_state_estimators::LatGeneric::setCovarianceMatrix(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&)0
mrs_uav_state_estimators::LatGeneric::pause()0
mrs_uav_state_estimators::LatGeneric::reset()0
mrs_uav_state_estimators::LatGeneric::setDt(double const&)49661
mrs_uav_state_estimators::LatGeneric::start()214
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)142
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)142
mrs_uav_state_estimators::LatGeneric::generateA()99366
mrs_uav_state_estimators::LatGeneric::generateB()99366
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const400
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const199216
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const199216
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const99608
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const99608
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const266
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const49661
mrs_uav_state_estimators::LatGeneric::getState(int const&) const530290
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const530284
mrs_uav_state_estimators::LatGeneric::getStates() const49661
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) const119397
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) const2054
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.frameset.html new file mode 100644 index 0000000000..20cba12156 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.html new file mode 100644 index 0000000000..7440ab0cd7 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.html @@ -0,0 +1,838 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateral - lat_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2023-12-06 10:06:33Functions:253083.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.0.1"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/lateral/lat_generic.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : {
+      11             : 
+      12             : /* initialize() //{*/
+      13          44 : void LatGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      14             : 
+      15          44 :   ch_ = ch;
+      16          44 :   ph_ = ph;
+      17             : 
+      18          44 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      19             : 
+      20             :   // clang-format off
+      21          44 :   dt_ = 0.01;
+      22          44 :   input_coeff_ = 10;
+      23          44 :   default_input_coeff_ = 10;
+      24             : 
+      25          44 :   generateA();
+      26          44 :   generateB();
+      27             : 
+      28          44 :   H_ <<
+      29          44 :     1, 0, 0, 0, 0, 0,
+      30          44 :     0, 1, 0, 0, 0, 0;
+      31             : 
+      32             :   // clang-format on
+      33             : 
+      34             :   // | --------------- initialize parameter loader -------------- |
+      35             : 
+      36          44 :   if (is_core_plugin_) {
+      37             : 
+      38          44 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      39          44 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      40             :   }
+      41             : 
+      42          44 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      43             : 
+      44             :   // | --------------------- load parameters -------------------- |
+      45          44 :   ph->param_loader->loadParam("hdg_source_topic", hdg_source_topic_);
+      46          44 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      47          44 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      48          44 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      49          44 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      50          44 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      51          44 :   if (is_repredictor_enabled_) {
+      52           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      53             :   }
+      54             : 
+      55             :   // | --------------- corrections initialization --------------- |
+      56          44 :   ph->param_loader->loadParam("corrections", correction_names_);
+      57             : 
+      58          90 :   for (auto corr_name : correction_names_) {
+      59          46 :     corrections_.push_back(std::make_shared<Correction<lat_generic::n_measurements>>(
+      60        2146 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::LATERAL, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      61      119397 :         [this](const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      62      119397 :           return this->doCorrection(meas, R, state);
+      63             :         }));
+      64             :   }
+      65             : 
+      66             :   // | ------- check if all parameters loaded successfully ------ |
+      67          44 :   if (!ph->param_loader->loadedSuccessfully()) {
+      68           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      69           0 :     ros::shutdown();
+      70             :   }
+      71             : 
+      72          44 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      73             : 
+      74             :   // | ----------- initialize process noise covariance ---------- |
+      75          44 :   Q_ = Q_t::Zero();
+      76             :   double tmp_noise;
+      77          44 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      78          44 :   Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X)) = tmp_noise;
+      79          44 :   Q_(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y)) = tmp_noise;
+      80          44 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      81          44 :   Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X)) = tmp_noise;
+      82          44 :   Q_(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y)) = tmp_noise;
+      83          44 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      84          44 :   Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = tmp_noise;
+      85          44 :   Q_(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = tmp_noise;
+      86             : 
+      87             :   // | ------------- initialize dynamic reconfigure ------------- |
+      88             :   drmgr_ =
+      89          44 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&LatGeneric::callbackReconfigure, this, _1, _2));
+      90          44 :   drmgr_->config.pos = Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X));
+      91          44 :   drmgr_->config.vel = Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X));
+      92          44 :   drmgr_->config.acc = Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X));
+      93          44 :   drmgr_->update_config(drmgr_->config);
+      94             : 
+      95             :   // | --------------- Kalman filter intialization -------------- |
+      96          44 :   const x_t        x0 = x_t::Zero();
+      97          44 :   const P_t        P0 = 1e3 * P_t::Identity();
+      98          44 :   const statecov_t sc0({x0, P0});
+      99          44 :   sc_ = sc0;
+     100             : 
+     101          44 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     102          44 :   if (is_repredictor_enabled_) {
+     103             : 
+     104           0 :     for (int i = 0; i < lat_generic::n_states; i++) {
+     105           0 :       H_t H                = H_t::Zero();
+     106           0 :       H(AXIS_X, i * 2)     = 1;
+     107           0 :       H(AXIS_Y, i * 2 + 1) = 1;
+     108           0 :       models_.push_back(std::make_shared<lkf_t>(A_, B_, H));
+     109             :     }
+     110             : 
+     111           0 :     const u_t       u0 = u_t::Zero();
+     112           0 :     const ros::Time t0 = ros::Time::now();
+     113           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     114             : 
+     115           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     116             :   }
+     117             : 
+     118             :   // | ------------------ timers initialization ----------------- |
+     119          44 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &LatGeneric::timerUpdate, this);  // not running after init
+     120             :   /* timer_check_health_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &LatGeneric::timerCheckHealth, this); */
+     121             : 
+     122             :   // | --------------- subscribers initialization --------------- |
+     123             :   // subscriber to odometry
+     124          88 :   mrs_lib::SubscribeHandlerOptions shopts;
+     125          44 :   shopts.nh                 = nh;
+     126          44 :   shopts.node_name          = getPrintName();
+     127          44 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     128          44 :   shopts.threadsafe         = true;
+     129          44 :   shopts.autostart          = true;
+     130          44 :   shopts.queue_size         = 10;
+     131          44 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     132             : 
+     133          44 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     134             :   sh_hdg_state_ =
+     135          44 :       mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput>(shopts, hdg_source_topic_);  // for transformation of desired accelerations from body to global frame
+     136             : 
+     137             :   // | ---------------- publishers initialization --------------- |
+     138          44 :   if (ch_->debug_topics.input) {
+     139          44 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     140             :   }
+     141          44 :   if (ch_->debug_topics.output) {
+     142          44 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     143             :   }
+     144          44 :   if (ch_->debug_topics.diag) {
+     145           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     146             :   }
+     147             : 
+     148             :   // | ------------------ finish initialization ----------------- |
+     149             : 
+     150          44 :   if (changeState(INITIALIZED_STATE)) {
+     151          44 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     152             :   } else {
+     153           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     154             :   }
+     155          44 : }
+     156             : /*//}*/
+     157             : 
+     158             : /*//{ start() */
+     159         214 : bool LatGeneric::start(void) {
+     160             : 
+     161         214 :   if (isInState(READY_STATE)) {
+     162             :     /* timer_update_.start(); */
+     163          44 :     changeState(STARTED_STATE);
+     164          44 :     return true;
+     165             : 
+     166             :   } else {
+     167         170 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     168         170 :     return false;
+     169             :   }
+     170             : }
+     171             : /*//}*/
+     172             : 
+     173             : /*//{ pause() */
+     174           0 : bool LatGeneric::pause(void) {
+     175             : 
+     176           0 :   if (isInState(RUNNING_STATE)) {
+     177           0 :     changeState(STOPPED_STATE);
+     178           0 :     return true;
+     179             : 
+     180             :   } else {
+     181           0 :     return false;
+     182             :   }
+     183             : }
+     184             : /*//}*/
+     185             : 
+     186             : /*//{ reset() */
+     187           0 : bool LatGeneric::reset(void) {
+     188             : 
+     189           0 :   if (!isInitialized()) {
+     190           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     191           0 :     return false;
+     192             :   }
+     193             : 
+     194           0 :   changeState(STOPPED_STATE);
+     195             : 
+     196             :   // Initialize LKF state and covariance
+     197           0 :   const x_t        x0 = x_t::Zero();
+     198           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     199           0 :   const statecov_t sc0({x0, P0});
+     200           0 :   sc_ = sc0;
+     201             : 
+     202             :   // Instantiate the LKF itself
+     203           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     204           0 :   if (is_repredictor_enabled_) {
+     205             : 
+     206           0 :     const u_t       u0 = u_t::Zero();
+     207           0 :     const ros::Time t0 = ros::Time(0);
+     208           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<lkf_t>>(x0, P0, u0, Q_, t0, lkf_, rep_buffer_size_);
+     209             :   }
+     210             : 
+     211           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     212             : 
+     213           0 :   return true;
+     214             : }
+     215             : /*//}*/
+     216             : 
+     217             : /* timerUpdate() //{*/
+     218       51121 : void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
+     219             : 
+     220       51121 :   if (!isInitialized()) {
+     221        1460 :     return;
+     222             :   }
+     223             : 
+     224       51115 :   switch (getCurrentSmState()) {
+     225             : 
+     226           0 :     case UNINITIALIZED_STATE: {
+     227           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     228           0 :       break;
+     229             :     }
+     230             : 
+     231          12 :     case READY_STATE: {
+     232          12 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     233          12 :       break;
+     234             :     }
+     235             : 
+     236        1216 :     case INITIALIZED_STATE: {
+     237             :       // initialize the estimator with current corrections
+     238        1287 :       for (auto correction : corrections_) {
+     239        1243 :         auto res = correction->getProcessedCorrection();
+     240        1243 :         if (res) {
+     241          71 :           auto measurement_stamped = res.value(); 
+     242          71 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     243          71 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     244          71 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X),
+     245             :                             measurement_stamped.value(AXIS_Y));
+     246             :         } else {
+     247        1172 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getNamespacedName().c_str());
+     248        1172 :           return;
+     249             :         }
+     250             :       }
+     251          44 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     252          44 :       changeState(READY_STATE);
+     253          44 :       break;
+     254             :     }
+     255             : 
+     256          44 :     case STARTED_STATE: {
+     257          44 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     258          44 :       if (isConverged()) {
+     259          44 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     260          44 :         changeState(RUNNING_STATE);
+     261             :       }
+     262          44 :       break;
+     263             :     }
+     264             : 
+     265       49843 :     case RUNNING_STATE: {
+     266      101715 :       for (auto correction : corrections_) {
+     267       51872 :         if (!correction->isHealthy()) {
+     268           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     269           0 :           changeState(ERROR_STATE);
+     270             :         }
+     271             :       }
+     272       49843 :       break;
+     273             :     }
+     274             : 
+     275           0 :     case STOPPED_STATE: {
+     276           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     277           0 :       break;
+     278             :     }
+     279             : 
+     280           0 :     case ERROR_STATE: {
+     281           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     282             : 
+     283           0 :       ros::Time t_now = ros::Time::now();
+     284           0 :       if (is_error_state_first_time_) {
+     285           0 :         prev_time_in_error_state_  = t_now;
+     286           0 :         is_error_state_first_time_ = false;
+     287           0 :         error_state_duration_      = ros::Duration(0.0);
+     288             :       }
+     289           0 :       error_state_duration_ += t_now - prev_time_in_error_state_;
+     290             : 
+     291             : 
+     292             :       // check if all corrections are healthy now
+     293           0 :       bool all_corrections_healthy = true;
+     294           0 :       for (auto correction : corrections_) {
+     295           0 :         if (!correction->isHealthy()) {
+     296           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     297           0 :           all_corrections_healthy = false;
+     298             :         }
+     299             :       }
+     300             : 
+     301           0 :       if (all_corrections_healthy && innovation_ok_) {
+     302             :         // initialize the estimator again if corrections become healthy
+     303           0 :         if (error_state_duration_.toSec() > 5.0) {
+     304           0 :           ROS_INFO("[%s]: corrections healthy for %.2f s", getPrintName().c_str(), error_state_duration_.toSec());
+     305           0 :           changeState(INITIALIZED_STATE);
+     306           0 :           is_error_state_first_time_ = true;
+     307           0 :         }
+     308             :       } else {
+     309           0 :         is_error_state_first_time_ = true;
+     310             :       }
+     311             : 
+     312           0 :       prev_time_in_error_state_ = t_now;
+     313             : 
+     314           0 :       break;
+     315             :     }
+     316             :   }
+     317             : 
+     318       49943 :   if (sh_control_input_.newMsg()) {
+     319       25463 :     is_input_ready_ = true;
+     320             :   }
+     321             : 
+     322             :   // check age of input
+     323       49943 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     324           9 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f s), using zero input instead", getPrintName().c_str(),
+     325             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     326           9 :     is_input_ready_ = false;
+     327             :   }
+     328             : 
+     329       49943 :   if (fun_get_hdg_()) {
+     330       49873 :     is_hdg_state_ready_ = true;
+     331             :   }
+     332             : 
+     333       49943 :   if (!isRunning() && !isStarted()) {
+     334          54 :     return;
+     335             :   }
+     336             : 
+     337       49889 :   if (first_iter_) {
+     338          44 :     first_iter_ = false;
+     339          44 :     return;
+     340             :   }
+     341             : 
+     342             :   // obtain dt for state prediction
+     343       49845 :   double dt = (event.current_real - event.last_real).toSec();
+     344       49845 :   if (dt <= 0.0) {  // sometimes the timer ticks twice simultaneously in simulation - we ignore the second tick
+     345         184 :     return;
+     346             :   }
+     347             : 
+     348       49661 :   if (!is_repredictor_enabled_) {  // repredictor requires constant dt TODO: how to handle repredictor + variable rate?
+     349       49661 :     setDt(dt);
+     350             :   }
+     351             : 
+     352             :   // obtain unbiased desired control acceleration in the estimator frame that will be used as input to the estimator
+     353       49661 :   u_t       u;
+     354       49661 :   ros::Time input_stamp;
+     355       49661 :   if (is_input_ready_ && is_hdg_state_ready_) {
+     356       32088 :     auto res = fun_get_hdg_();
+     357       32088 :     if (!res) {
+     358           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not obtain heading", getPrintName().c_str());
+     359           0 :       return;
+     360             :     }
+     361             : 
+     362       32088 :     const tf2::Vector3 des_acc_global = getAccGlobal(sh_control_input_.getMsg(), res.value());
+     363       32088 :     input_stamp                       = sh_control_input_.getMsg()->header.stamp;
+     364       32088 :     setInputCoeff(default_input_coeff_);
+     365       32088 :     u(0) = des_acc_global.getX();
+     366       32088 :     u(1) = des_acc_global.getY();
+     367             : 
+     368             :   } else {  // this is ok before the controller starts controlling but bad during actual flight (causes delayed estimated acceleration and velocity)
+     369       17573 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     370       17573 :     input_stamp = ros::Time::now();
+     371       17573 :     setInputCoeff(0);
+     372       17573 :     u = u_t::Zero();
+     373             :   }
+     374             : 
+     375             :   // go through available corrections and apply them
+     376             :   /* for (auto correction : corrections_) { */
+     377             :   /*   auto res = correction->getProcessedCorrection(); */
+     378             :   /*   if (res) { */
+     379             :   /*     auto measurement_stamped = res.value(); */
+     380             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     381             :   /*   } */
+     382             :   /* } */
+     383             : 
+     384             :   // get current state, covariance, and process noise
+     385       49661 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     386       49661 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     387             : 
+     388             :   // prediction step
+     389             :   try {
+     390             :     // Apply the prediction step
+     391       99322 :     std::scoped_lock lock(mutex_lkf_);
+     392       49661 :     if (is_repredictor_enabled_) {
+     393           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, lkf_);
+     394           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     395             :     } else {
+     396       49661 :       sc = lkf_->predict(sc, u, Q, dt_);
+     397             :     }
+     398             :   }
+     399           0 :   catch (const std::exception &e) {
+     400           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     401           0 :     changeState(ERROR_STATE);
+     402             :   }
+     403             : 
+     404             :   // update the state and covariance variable that is queried by the estimation manager
+     405       49661 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     406             : 
+     407             :   // publishing
+     408       49661 :   publishInput(u, input_stamp);
+     409       49661 :   publishOutput();
+     410       49661 :   publishDiagnostics();
+     411             : }
+     412             : /*//}*/
+     413             : 
+     414             : /*//{ timerCheckHealth() */
+     415           0 : void LatGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+     416             : 
+     417           0 :   if (!isInitialized()) {
+     418           0 :     return;
+     419             :   }
+     420             : 
+     421           0 :   switch (getCurrentSmState()) {
+     422             : 
+     423           0 :     case UNINITIALIZED_STATE: {
+     424           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     425           0 :       break;
+     426             :     }
+     427             : 
+     428           0 :     case READY_STATE: {
+     429           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     430           0 :       break;
+     431             :     }
+     432             : 
+     433           0 :     case INITIALIZED_STATE: {
+     434             :       // initialize the estimator with current corrections
+     435           0 :       for (auto correction : corrections_) {
+     436           0 :         auto res = correction->getProcessedCorrection();
+     437           0 :         if (res) {
+     438           0 :           auto measurement_stamped = res.value();
+     439           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     440           0 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     441           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X),
+     442             :                             measurement_stamped.value(AXIS_Y));
+     443             :         } else {
+     444           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getPrintName().c_str());
+     445           0 :           return;
+     446             :         }
+     447             :       }
+     448           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     449           0 :       changeState(READY_STATE);
+     450           0 :       break;
+     451             :     }
+     452             : 
+     453           0 :     case STARTED_STATE: {
+     454           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     455           0 :       if (isConverged()) {
+     456           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     457           0 :         changeState(RUNNING_STATE);
+     458             :       }
+     459           0 :       break;
+     460             :     }
+     461             : 
+     462           0 :     case RUNNING_STATE: {
+     463           0 :       for (auto correction : corrections_) {
+     464           0 :         if (!correction->isHealthy()) {
+     465           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     466           0 :           changeState(ERROR_STATE);
+     467             :         }
+     468             :       }
+     469           0 :       break;
+     470             :     }
+     471             : 
+     472           0 :     case STOPPED_STATE: {
+     473           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     474           0 :       break;
+     475             :     }
+     476             : 
+     477           0 :     case ERROR_STATE: {
+     478           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     479           0 :       bool all_corrections_healthy = true;
+     480           0 :       for (auto correction : corrections_) {
+     481           0 :         if (!correction->isHealthy()) {
+     482           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     483           0 :           correction->resetProcessors();
+     484           0 :           all_corrections_healthy = false;
+     485             :         }
+     486             :       }
+     487             :       // initialize the estimator again if corrections become healthy
+     488           0 :       if (all_corrections_healthy) {
+     489           0 :         changeState(INITIALIZED_STATE);
+     490             :       }
+     491           0 :       break;
+     492             :     }
+     493             :   }
+     494             : 
+     495           0 :   if (sh_control_input_.newMsg()) {
+     496           0 :     is_input_ready_ = true;
+     497             :   }
+     498             : 
+     499             :   // check age of input
+     500           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     501           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f s), using zero input instead", getPrintName().c_str(),
+     502             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     503           0 :     is_input_ready_ = false;
+     504             :   }
+     505             : 
+     506           0 :   if (fun_get_hdg_()) {
+     507           0 :     is_hdg_state_ready_ = true;
+     508             :   }
+     509             : }
+     510             : /*//}*/
+     511             : 
+     512             : /*//{ doCorrection() */
+     513      119397 : void LatGeneric::doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     514      119397 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     515      119397 : }
+     516             : /*//}*/
+     517             : 
+     518             : /*//{ doCorrection() */
+     519      119397 : void LatGeneric::doCorrection(const z_t &z, const double R, const StateId_t &state_id, const ros::Time &meas_stamp) {
+     520             : 
+     521      119397 :   if (!isInitialized()) {
+     522         149 :     return;
+     523             :   }
+     524             : 
+     525             :   // we do not want to perform corrections until the estimator is initialized
+     526      119395 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     527         147 :     return;
+     528             :   }
+     529             : 
+     530             :   // for position state check the innovation
+     531      119247 :   if (state_id == POSITION) {
+     532             :     {
+     533      114706 :       std::scoped_lock lock(mtx_innovation_);
+     534             : 
+     535      114706 :       is_mitigating_jump_ = false;
+     536      114706 :       innovation_(0)      = z(0) - getState(POSITION, AXIS_X);
+     537      114706 :       innovation_(1)      = z(1) - getState(POSITION, AXIS_Y);
+     538             : 
+     539      114706 :       if (fabs(innovation_(0)) > pos_innovation_limit_ || fabs(innovation_(1)) > pos_innovation_limit_) {
+     540           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - [%.2f %.2f] lim: %.2f", getPrintName().c_str(), innovation_(0), innovation_(1),
+     541             :                           pos_innovation_limit_);
+     542           0 :         innovation_ok_ = false;
+     543           0 :         switch (exc_innovation_action_) {
+     544           0 :           case ExcInnoAction_t::ELAND: {
+     545           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger eland in control manager", ros::this_node::getName().c_str());
+     546           0 :             changeState(ERROR_STATE);
+     547           0 :             break;
+     548             :           }
+     549           0 :           case ExcInnoAction_t::SWITCH: {
+     550           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: innovation should trigger estimator switch but no eland", ros::this_node::getName().c_str());
+     551           0 :             innovation_(0) = 0.0;  // this is quite hacky but is there other way to switch estimators and not trigger eland by the large innovation?
+     552           0 :             innovation_(1) = 0.0;
+     553           0 :             changeState(ERROR_STATE);
+     554           0 :             break;
+     555             :           }
+     556           0 :           case ExcInnoAction_t::MITIGATE: {
+     557           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger estimate jump mitigation", ros::this_node::getName().c_str());
+     558           0 :             innovation_(0)      = 0.0;  // this is quite hacky but is there other way to switch estimators and not trigger eland by the large innovation?
+     559           0 :             innovation_(1)      = 0.0;
+     560           0 :             is_mitigating_jump_ = true;
+     561           0 :             setState(z(0), POSITION, AXIS_X);
+     562           0 :             setState(z(1), POSITION, AXIS_Y);
+     563           0 :             break;
+     564             :           }
+     565           0 :           case ExcInnoAction_t::NONE: {
+     566           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation ignored", ros::this_node::getName().c_str());
+     567           0 :             break;
+     568             :           }
+     569             :         }
+     570             :       }
+     571      114706 :       innovation_ok_ = true;
+     572             :     }
+     573             :   }
+     574             : 
+     575      119247 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     576             :   try {
+     577             :     // Apply the correction step
+     578      238496 :     std::scoped_lock lock(mutex_lkf_);
+     579      119248 :     H_                           = H_t::Zero();
+     580      119248 :     H_(AXIS_X, state_id * 2)     = 1;
+     581      119248 :     H_(AXIS_Y, state_id * 2 + 1) = 1;
+     582      119248 :     lkf_->H                      = H_;
+     583             : 
+     584      119248 :     if (is_repredictor_enabled_) {
+     585             : 
+     586           0 :       lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[state_id]);
+     587             :     } else {
+     588      119248 :       sc = lkf_->correct(sc, z, R_t::Ones() * R);
+     589             :     }
+     590             :   }
+     591           0 :   catch (const std::exception &e) {
+     592             :     // In case of error, alert the user
+     593           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     594             :   }
+     595             : 
+     596      119248 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     597             : }  // namespace mrs_uav_state_estimators
+     598             : /*//}*/
+     599             : 
+     600             : /*//{ isConverged() */
+     601          44 : bool LatGeneric::isConverged() {
+     602             : 
+     603             :   // TODO: check convergence by rate of change of determinant
+     604             : 
+     605          44 :   return true;
+     606             : }
+     607             : /*//}*/
+     608             : 
+     609             : /*//{ getState() */
+     610      530284 : double LatGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     611      530284 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     612             : }
+     613             : 
+     614      530290 : double LatGeneric::getState(const int &state_idx_in) const {
+     615      530290 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     616             : }
+     617             : /*//}*/
+     618             : 
+     619             : /*//{ setState() */
+     620         142 : void LatGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     621         142 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     622         142 : }
+     623             : 
+     624         142 : void LatGeneric::setState(const double &state_in, const int &state_idx_in) {
+     625         142 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     626         142 : }
+     627             : /*//}*/
+     628             : 
+     629             : /*//{ getStates() */
+     630       49661 : LatGeneric::states_t LatGeneric::getStates(void) const {
+     631       99322 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     632             : }
+     633             : /*//}*/
+     634             : 
+     635             : /*//{ setStates() */
+     636           0 : void LatGeneric::setStates(const states_t &states_in) {
+     637           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     638           0 : }
+     639             : /*//}*/
+     640             : 
+     641             : /*//{ getCovariance() */
+     642      199216 : double LatGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     643      199216 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     644             : }
+     645             : 
+     646      199216 : double LatGeneric::getCovariance(const int &state_idx_in) const {
+     647      199216 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     648             : }
+     649             : /*//}*/
+     650             : 
+     651             : /*//{ getCovarianceMatrix() */
+     652       49661 : LatGeneric::covariance_t LatGeneric::getCovarianceMatrix(void) const {
+     653       99322 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     654             : }
+     655             : /*//}*/
+     656             : 
+     657             : /*//{ setCovarianceMatrix() */
+     658           0 : void LatGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     659           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     660           0 : }
+     661             : /*//}*/
+     662             : 
+     663             : /*//{ getInnovation() */
+     664       99608 : double LatGeneric::getInnovation(const int &state_idx) const {
+     665       99608 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     666             : }
+     667             : 
+     668       99608 : double LatGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     669       99608 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     670             : }
+     671             : /*//}*/
+     672             : 
+     673             : /*//{ setDt() */
+     674       49661 : void LatGeneric::setDt(const double &dt) {
+     675       49661 :   dt_ = dt;
+     676       49661 :   generateA();
+     677       49661 :   generateB();
+     678       99322 :   std::scoped_lock lock(mutex_lkf_);
+     679       49661 :   lkf_->A = A_;
+     680       49661 :   lkf_->B = B_;
+     681       49661 : }
+     682             : /*//}*/
+     683             : 
+     684             : /*//{ setInputCoeff() */
+     685       49661 : void LatGeneric::setInputCoeff(const double &input_coeff) {
+     686       49661 :   input_coeff_ = input_coeff;
+     687       49661 :   generateA();
+     688       49661 :   generateB();
+     689       99322 :   std::scoped_lock lock(mutex_lkf_);
+     690       49661 :   lkf_->A = A_;
+     691       49661 :   lkf_->B = B_;
+     692       49661 : }
+     693             : /*//}*/
+     694             : 
+     695             : /*//{ generateA() */
+     696       99366 : void LatGeneric::generateA() {
+     697             : 
+     698             :   // clang-format off
+     699       99366 :     A_ <<
+     700       99366 :       1, 0, dt_, 0, 0.5 * dt_ * dt_, 0,
+     701       99366 :       0, 1, 0, dt_, 0, 0.5 * dt_ * dt_,
+     702       99366 :       0, 0, 1, 0, dt_, 0,
+     703       99366 :       0, 0, 0, 1, 0, dt_,
+     704       99366 :       0, 0, 0, 0, 1-(input_coeff_ * dt_), 0,
+     705       99366 :       0, 0, 0, 0, 0, 1-(input_coeff_ * dt_);
+     706             :   // clang-format on
+     707       99366 : }
+     708             : /*//}*/
+     709             : 
+     710             : /*//{ generateB() */
+     711       99366 : void LatGeneric::generateB() {
+     712             : 
+     713             :   // clang-format off
+     714       99366 :     B_ <<
+     715       99366 :       0, 0,
+     716       99366 :       0, 0,
+     717       99366 :       0, 0,
+     718       99366 :       0, 0,
+     719       99366 :       input_coeff_ * dt_, 0,
+     720       99366 :       0, input_coeff_ * dt_;
+     721             :   // clang-format on
+     722       99366 : }
+     723             : /*//}*/
+     724             : 
+     725             : /*//{ callbackReconfigure() */
+     726          44 : void LatGeneric::callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     727             : 
+     728          44 :   if (!isInitialized()) {
+     729          44 :     return;
+     730             :   }
+     731             : 
+     732           0 :   Q_t Q;
+     733           0 :   Q(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X))         = config.pos;
+     734           0 :   Q(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y))         = config.pos;
+     735           0 :   Q(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X))         = config.vel;
+     736           0 :   Q(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y))         = config.vel;
+     737           0 :   Q(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = config.acc;
+     738           0 :   Q(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = config.acc;
+     739           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     740             : }
+     741             : /*//}*/
+     742             : 
+     743             : /*//{ getNamespacedName() */
+     744         266 : std::string LatGeneric::getNamespacedName() const {
+     745         532 :   return parent_state_est_name_ + "/" + getName();
+     746             : }
+     747             : /*//}*/
+     748             : 
+     749             : /*//{ getPrintName() */
+     750         400 : std::string LatGeneric::getPrintName() const {
+     751         800 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     752             : }
+     753             : /*//}*/
+     754             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
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(anonymous namespace)::ProxyExec0::ProxyExec0()41
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mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().241
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mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().241
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+       2             : 
+       3             : namespace mrs_uav_state_estimators
+       4             : {
+       5             : 
+       6             : namespace gps_baro
+       7             : {
+       8             : 
+       9             : const char estimator_name[] = "gps_baro";
+      10             : const bool is_core_plugin = true;
+      11             : 
+      12             : class GpsBaro : public StateGeneric {
+      13             : public:
+      14          41 :   GpsBaro() : StateGeneric(estimator_name, is_core_plugin) {
+      15          41 :   }
+      16             : 
+      17          82 :   ~GpsBaro(void) {
+      18          82 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_baro
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          41 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_baro::GpsBaro, mrs_uav_managers::StateEstimator)
+
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions: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()1
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()1
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()1
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().21
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions: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()1
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()1
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()1
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().21
+
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2023-12-06 10:06:33Functions: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           1 :   GpsGarmin() : StateGeneric(estimator_name, is_core_plugin) {
+      15           1 :   }
+      16             : 
+      17           2 :   ~GpsGarmin(void) {
+      18           2 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_garmin
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25           1 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_garmin::GpsGarmin, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ Overview +
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Test:MRS UAV System - Test coverage reportLines:30643570.3 %
Date:2023-12-06 10:06:33Functions:243372.7 %
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
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gps_baro.cpp +
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rtk.cpp +
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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
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:30643570.3 %
Date:2023-12-06 10:06:33Functions:243372.7 %
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%
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passthrough.cpp +
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gps_baro.cpp +
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rtk.cpp +
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<unnamed>100.0 %5 / 5100.0 %4 / 4
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:30643570.3 %
Date:2023-12-06 10:06:33Functions:243372.7 %
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
gps_baro.cpp +
100.0%
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<unnamed>100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
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passthrough.cpp +
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rtk.cpp +
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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
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Test:MRS UAV System - Test coverage reportLines:30643570.3 %
Date:2023-12-06 10:06:33Functions:243372.7 %
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%
+ 		66.2 %194 / 29358.3 %7 / 12
gps_baro.cpp +
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rtk.cpp +
100.0%
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gps_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
+
+
+ + + + +
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..aec5437c66 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-sort-l.html @@ -0,0 +1,142 @@ + + + + + + + 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:30643570.3 %
Date:2023-12-06 10:06:33Functions:243372.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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.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
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:30643570.3 %
Date:2023-12-06 10:06:33Functions:243372.7 %
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 +
100.0%
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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..e73901533c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html @@ -0,0 +1,116 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2023-12-06 10:06:33Functions: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()3
mrs_uav_state_estimators::passthrough::Passthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)3
mrs_uav_state_estimators::passthrough::Passthrough::start()3
mrs_uav_state_estimators::passthrough::Passthrough::timerUpdate(ros::TimerEvent const&)4142
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)4197
+
+
+ + + +
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..c375d62c23 --- /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:2023-12-06 10:06:33Functions:5955.6 %
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()3
mrs_uav_state_estimators::passthrough::Passthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)3
mrs_uav_state_estimators::passthrough::Passthrough::isConverged()0
mrs_uav_state_estimators::passthrough::Passthrough::setUavState(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_state_estimators::passthrough::Passthrough::timerUpdate(ros::TimerEvent const&)4142
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)4197
mrs_uav_state_estimators::passthrough::Passthrough::pause()0
mrs_uav_state_estimators::passthrough::Passthrough::reset()0
mrs_uav_state_estimators::passthrough::Passthrough::start()3
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2023-12-06 10:06:33Functions:5955.6 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <mrs_uav_state_estimators/estimators/state/passthrough.h>
+       4             : 
+       5             : //}
+       6             : 
+       7             : namespace mrs_uav_state_estimators
+       8             : {
+       9             : 
+      10             : namespace passthrough
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14           3 : void Passthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16           3 :   ch_ = ch;
+      17           3 :   ph_ = ph;
+      18             : 
+      19           3 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // | --------------- param loader initialization -------------- |
+      22             : 
+      23           3 :   if (is_core_plugin_) {
+      24             : 
+      25           3 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      26           3 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      27             :   }
+      28             : 
+      29           3 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      30             : 
+      31             :   // | --------------------- load parameters -------------------- |
+      32           3 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      33           3 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+      34           3 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+      35             : 
+      36             :   // | ------------------ timers initialization ----------------- |
+      37           3 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerUpdate, this, false, false);  // not running after init
+      38           3 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerCheckHealth, this);
+      39             : 
+      40             :   // | --------------- subscribers initialization --------------- |
+      41           6 :   mrs_lib::SubscribeHandlerOptions shopts;
+      42           3 :   shopts.nh                 = nh;
+      43           3 :   shopts.node_name          = getPrintName();
+      44           3 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      45           3 :   shopts.threadsafe         = true;
+      46           3 :   shopts.autostart          = true;
+      47           3 :   shopts.queue_size         = 10;
+      48           3 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      49             : 
+      50           3 :   sh_passthrough_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_);
+      51             : 
+      52             :   // | ---------------- publishers initialization --------------- |
+      53           3 :   ph_odom_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);  // needed for tf
+      54           3 :   if (ch_->debug_topics.state) {
+      55           3 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      56             :   }
+      57           3 :   if (ch_->debug_topics.covariance) {
+      58           0 :     ph_pose_covariance_  = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/pose_covariance", 10);
+      59           0 :     ph_twist_covariance_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/twist_covariance", 10);
+      60             :   }
+      61           3 :   if (ch_->debug_topics.innovation) {
+      62           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      63             :   }
+      64           3 :   if (ch_->debug_topics.diag) {
+      65           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, Support::toSnakeCase(getName()) + "/diagnostics", 10);
+      66             :   }
+      67             : 
+      68             :   // | ------------------ initialize published messages ------------------ |
+      69           3 :   uav_state_init_.header.frame_id = ns_frame_id_;
+      70           3 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+      71             : 
+      72           3 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+      73           3 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+      74           3 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+      75             : 
+      76           3 :   innovation_init_.header.frame_id         = ns_frame_id_;
+      77           3 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+      78           3 :   innovation_init_.pose.pose.orientation.w = 1.0;
+      79             : 
+      80             :   // | ------------------ finish initialization ----------------- |
+      81             : 
+      82           3 :   if (changeState(INITIALIZED_STATE)) {
+      83           3 :     ROS_INFO("[%s]: Estimator initialized", getPrintName().c_str());
+      84             :   } else {
+      85           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      86             :   }
+      87           3 : }
+      88             : /*//}*/
+      89             : 
+      90             : /*//{ start() */
+      91           3 : bool Passthrough::start(void) {
+      92             : 
+      93             : 
+      94           3 :   if (isInState(READY_STATE)) {
+      95             : 
+      96           3 :     timer_update_.start();
+      97           3 :     changeState(STARTED_STATE);
+      98           3 :     return true;
+      99             : 
+     100             :   } else {
+     101           0 :     ROS_WARN("[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     102           0 :     ros::Duration(1.0).sleep();
+     103             :   }
+     104           0 :   return false;
+     105             : 
+     106             :   ROS_ERROR("[%s]: Failed to start", getPrintName().c_str());
+     107             :   return false;
+     108             : }
+     109             : /*//}*/
+     110             : 
+     111             : /*//{ pause() */
+     112           0 : bool Passthrough::pause(void) {
+     113             : 
+     114           0 :   if (isInState(RUNNING_STATE)) {
+     115           0 :     changeState(STOPPED_STATE);
+     116           0 :     return true;
+     117             :   }
+     118           0 :   return false;
+     119             : }
+     120             : /*//}*/
+     121             : 
+     122             : /*//{ reset() */
+     123           0 : bool Passthrough::reset(void) {
+     124             : 
+     125           0 :   if (!isInitialized()) {
+     126           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     127           0 :     return false;
+     128             :   }
+     129             : 
+     130           0 :   changeState(STOPPED_STATE);
+     131             : 
+     132           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     133             : 
+     134           0 :   return true;
+     135             : }
+     136             : /*//}*/
+     137             : 
+     138             : /* timerUpdate() //{*/
+     139        4142 : void Passthrough::timerUpdate(const ros::TimerEvent &event) {
+     140             : 
+     141             : 
+     142        4142 :   if (!isInitialized()) {
+     143           0 :     return;
+     144             :   }
+     145             : 
+     146        4142 :   const ros::Time time_now = ros::Time::now();
+     147             : 
+     148        8284 :   nav_msgs::OdometryConstPtr msg = sh_passthrough_odom_.getMsg();
+     149             : 
+     150        4142 :   if (first_iter_) {
+     151           3 :     prev_msg_   = msg;
+     152           3 :     first_iter_ = false;
+     153             :   }
+     154             : 
+     155        8284 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     156             : 
+     157        4142 :   uav_state.header.stamp = time_now;
+     158             : 
+     159        4142 :   uav_state.pose.position    = msg->pose.pose.position;
+     160        4142 :   uav_state.pose.orientation = msg->pose.pose.orientation;
+     161             : 
+     162        4142 :   uav_state.velocity.linear  = Support::rotateVector(msg->twist.twist.linear, msg->pose.pose.orientation);
+     163        4142 :   uav_state.velocity.angular = msg->twist.twist.angular;
+     164             : 
+     165        8284 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     166             : 
+     167        8284 :   nav_msgs::Odometry innovation = innovation_init_;
+     168        4142 :   innovation.header.stamp       = time_now;
+     169             : 
+     170        4142 :   innovation.pose.pose.position.x = prev_msg_->pose.pose.position.x - msg->pose.pose.position.x;
+     171        4142 :   innovation.pose.pose.position.y = prev_msg_->pose.pose.position.y - msg->pose.pose.position.y;
+     172        4142 :   innovation.pose.pose.position.z = prev_msg_->pose.pose.position.z - msg->pose.pose.position.z;
+     173             : 
+     174        8284 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     175        4142 :   pose_covariance.header.stamp  = time_now;
+     176        4142 :   twist_covariance.header.stamp = time_now;
+     177             : 
+     178        4142 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     179        4142 :   pose_covariance.values.resize(n_states * n_states);
+     180        4142 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     181        4142 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     182        4142 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     183             : 
+     184        4142 :   twist_covariance.values.resize(n_states * n_states);
+     185        4142 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     186        4142 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     187        4142 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     188             : 
+     189        4142 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     190        4142 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     191        4142 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     192        4142 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     193        4142 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     194             : 
+     195        4142 :   publishUavState();
+     196        4142 :   publishOdom();
+     197        4142 :   publishCovariance();
+     198        4142 :   publishInnovation();
+     199        4142 :   publishDiagnostics();
+     200             : 
+     201        4142 :   prev_msg_ = msg;
+     202             : }
+     203             : /*//}*/
+     204             : 
+     205             : /*//{ timerCheckHealth() */
+     206        4197 : void Passthrough::timerCheckHealth(const ros::TimerEvent &event) {
+     207             : 
+     208        4197 :   if (!isInitialized()) {
+     209           0 :     return;
+     210             :   }
+     211             : 
+     212        4197 :   if (isInState(INITIALIZED_STATE)) {
+     213             : 
+     214          53 :     if (sh_passthrough_odom_.hasMsg()) {
+     215           3 :       changeState(READY_STATE);
+     216           3 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     217             :     } else {
+     218          50 :       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          50 :       return;
+     220             :     }
+     221             :   }
+     222             : 
+     223             : 
+     224        4147 :   if (isInState(STARTED_STATE)) {
+     225             : 
+     226           3 :     changeState(RUNNING_STATE);
+     227             :   }
+     228             : }
+     229             : /*//}*/
+     230             : 
+     231             : /*//{ isConverged() */
+     232           0 : bool Passthrough::isConverged() {
+     233             : 
+     234             :   // TODO: check convergence by rate of change of determinant
+     235             :   // most likely not used in top-level estimator
+     236             : 
+     237           0 :   return true;
+     238             : }
+     239             : /*//}*/
+     240             : 
+     241             : /*//{ setUavState() */
+     242           0 : bool Passthrough::setUavState(const mrs_msgs::UavState &uav_state) {
+     243             : 
+     244           0 :   if (!isInState(STOPPED_STATE)) {
+     245           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     246           0 :     return false;
+     247             :   }
+     248             : 
+     249           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     250           0 :   return false;
+     251             : }
+     252             : /*//}*/
+     253             : 
+     254             : }  // namespace passthrough
+     255             : 
+     256             : }  // namespace mrs_uav_state_estimators
+     257             : 
+     258             : #include <pluginlib/class_list_macros.h>
+     259           3 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::passthrough::Passthrough, mrs_uav_managers::StateEstimator)
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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:2023-12-06 10:06:33Functions:44100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+       2             : 
+       3             : namespace mrs_uav_state_estimators
+       4             : {
+       5             : 
+       6             : namespace rtk
+       7             : {
+       8             : 
+       9             : const char estimator_name[] = "rtk";
+      10             : const bool is_core_plugin = true;
+      11             : 
+      12             : class Rtk : public StateGeneric {
+      13             : public:
+      14           2 :   Rtk() : StateGeneric(estimator_name, is_core_plugin) {
+      15           2 :   }
+      16             : 
+      17           4 :   ~Rtk(void) {
+      18           4 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace rtk
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25           2 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::rtk::Rtk, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.overview.html new file mode 100644 index 0000000000..6e78d250c4 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.overview.html @@ -0,0 +1,27 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a73b427303050221946009b0afa810dd7c98d9b4 GIT binary patch literal 229 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gqp;PJr literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html new file mode 100644 index 0000000000..e7c91e88e7 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - state_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19429366.2 %
Date:2023-12-06 10:06:33Functions:71258.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::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&)44
mrs_uav_state_estimators::StateGeneric::start()266
mrs_uav_state_estimators::StateGeneric::updateUavState()49804
mrs_uav_state_estimators::StateGeneric::timerUpdate(ros::TimerEvent const&)51281
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)51281
mrs_uav_state_estimators::StateGeneric::getHeading() const82031
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()() const82031
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+
+ + + +
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func.html new file mode 100644 index 0000000000..d91dcd2537 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - state_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19429366.2 %
Date:2023-12-06 10:06:33Functions:71258.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)44
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&)51281
mrs_uav_state_estimators::StateGeneric::updateUavState()49804
mrs_uav_state_estimators::StateGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)51281
mrs_uav_state_estimators::StateGeneric::pause()0
mrs_uav_state_estimators::StateGeneric::reset()0
mrs_uav_state_estimators::StateGeneric::start()266
mrs_uav_state_estimators::StateGeneric::getHeading() const82031
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()() const82031
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.frameset.html new file mode 100644 index 0000000000..ae1b3eba16 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.html new file mode 100644 index 0000000000..c0deecee83 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.html @@ -0,0 +1,633 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - state_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19429366.2 %
Date:2023-12-06 10:06:33Functions: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          44 : void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      12             : 
+      13          44 :   ch_ = ch;
+      14          44 :   ph_ = ph;
+      15             : 
+      16          88 :   ros::NodeHandle nh(parent_nh);
+      17             : 
+      18          44 :   if (is_core_plugin_) {
+      19             : 
+      20          44 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      21          44 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      22             :   }
+      23             : 
+      24          44 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          44 :   ph->param_loader->loadParam("estimators/lateral/name", est_lat_name_);
+      27          44 :   ph->param_loader->loadParam("estimators/altitude/name", est_alt_name_);
+      28          44 :   ph->param_loader->loadParam("estimators/heading/name", est_hdg_name_);
+      29          44 :   ph->param_loader->loadParam("estimators/heading/passthrough", is_hdg_passthrough_);
+      30             : 
+      31          44 :   ph->param_loader->loadParam("override_frame_id/enabled", is_override_frame_id_);
+      32          44 :   if (is_override_frame_id_) {
+      33           0 :     ph->param_loader->loadParam("override_frame_id/frame_id", frame_id_);
+      34             :   }
+      35             : 
+      36          88 :   std::string topic_orientation;
+      37          44 :   ph->param_loader->loadParam("topics/orientation", topic_orientation);
+      38          44 :   topic_orientation_ = "/" + ch_->uav_name + "/" + topic_orientation;
+      39          88 :   std::string topic_angular_velocity;
+      40          44 :   ph->param_loader->loadParam("topics/angular_velocity", topic_angular_velocity);
+      41          44 :   topic_angular_velocity_ = "/" + ch_->uav_name + "/" + topic_angular_velocity;
+      42             : 
+      43          44 :   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          44 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      49             : 
+      50             :   // | ------------------ timers initialization ----------------- |
+      51          44 :   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          44 :   timer_pub_attitude_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerPubAttitude, this);
+      54             : 
+      55             :   // | --------------- subscribers initialization --------------- |
+      56          88 :   mrs_lib::SubscribeHandlerOptions shopts;
+      57          44 :   shopts.nh                 = nh;
+      58          44 :   shopts.node_name          = getPrintName();
+      59          44 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      60          44 :   shopts.threadsafe         = true;
+      61          44 :   shopts.autostart          = true;
+      62          44 :   shopts.queue_size         = 10;
+      63          44 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      64             : 
+      65          44 :   sh_hw_api_orient_  = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, topic_orientation_);
+      66          44 :   sh_hw_api_ang_vel_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, topic_angular_velocity_);
+      67             : 
+      68             :   // | ---------------- publishers initialization --------------- |
+      69          44 :   ph_odom_     = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);
+      70          44 :   ph_attitude_ = mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped>(nh, Support::toSnakeCase(getName()) + "/attitude", 10);
+      71             : 
+      72          44 :   if (ch_->debug_topics.state) {
+      73          44 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      74             :   }
+      75          44 :   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          44 :   if (ch_->debug_topics.innovation) {
+      80           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      81             :   }
+      82          44 :   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          88 :   std::vector<double> max_altitudes;
+      88             : 
+      89          44 :   if (is_hdg_passthrough_) {
+      90          44 :     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          44 :   est_hdg_->initialize(nh, ch_, ph_);
+      95          44 :   max_altitudes.push_back(est_hdg_->getMaxFlightZ());
+      96             : 
+      97       82075 :   est_lat_ = std::make_unique<LatGeneric>(est_lat_name_, frame_id_, getName(), is_core_plugin_, [this](void) { return this->getHeading(); });
+      98          44 :   est_lat_->initialize(nh, ch_, ph_);
+      99          44 :   max_altitudes.push_back(est_lat_->getMaxFlightZ());
+     100             : 
+     101          44 :   est_alt_ = std::make_unique<AltGeneric>(est_alt_name_, frame_id_, getName(), is_core_plugin_);
+     102          44 :   est_alt_->initialize(nh, ch_, ph_);
+     103          44 :   max_altitudes.push_back(est_alt_->getMaxFlightZ());
+     104             : 
+     105          44 :   max_flight_z_ = *std::min_element(max_altitudes.begin(), max_altitudes.end());
+     106             : 
+     107             :   // | ------------------ initialize published messages ------------------ |
+     108          44 :   uav_state_init_.header.frame_id = ns_frame_id_;
+     109          44 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+     110             : 
+     111          44 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+     112          44 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+     113          44 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+     114             : 
+     115          44 :   innovation_init_.header.frame_id         = ns_frame_id_;
+     116          44 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+     117          44 :   innovation_init_.pose.pose.orientation.w = 1.0;
+     118             : 
+     119             :   // | ------------------ finish initialization ----------------- |
+     120             : 
+     121          44 :   if (changeState(INITIALIZED_STATE)) {
+     122          44 :     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          44 : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ start() */
+     130         266 : bool StateGeneric::start(void) {
+     131             : 
+     132         266 :   if (isInState(READY_STATE)) {
+     133             : 
+     134             :     bool est_lat_start_successful, est_alt_start_successful, est_hdg_start_successful;
+     135             : 
+     136         266 :     if (est_lat_->isStarted() || est_lat_->isRunning()) {
+     137          52 :       est_lat_start_successful = true;
+     138             :     } else {
+     139         214 :       est_lat_start_successful = est_lat_->start();
+     140             :     }
+     141             : 
+     142         266 :     if (est_alt_->isStarted() || est_alt_->isRunning()) {
+     143          23 :       est_alt_start_successful = true;
+     144             :     } else {
+     145         243 :       est_alt_start_successful = est_alt_->start();
+     146             :     }
+     147             : 
+     148         266 :     if (est_hdg_->isStarted() || est_hdg_->isRunning()) {
+     149         189 :       timer_pub_attitude_.start();
+     150         189 :       est_hdg_start_successful = true;
+     151             :     } else {
+     152          77 :       est_hdg_start_successful = est_hdg_->start();
+     153             :     }
+     154             : 
+     155         266 :     if (est_lat_start_successful && est_alt_start_successful && est_hdg_start_successful) {
+     156             :       /* timer_update_.start(); */
+     157          44 :       changeState(STARTED_STATE);
+     158          44 :       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         222 :   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       51281 : void StateGeneric::timerUpdate(const ros::TimerEvent &event) {
+     209             : 
+     210             : 
+     211       51281 :   if (!isInitialized()) {
+     212        1477 :     return;
+     213             :   }
+     214             : 
+     215      101970 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerUpdate", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     216             : 
+     217       50985 :   switch (getCurrentSmState()) {
+     218             : 
+     219           0 :     case UNINITIALIZED_STATE: {
+     220           0 :       break;
+     221             :     }
+     222         921 :     case INITIALIZED_STATE: {
+     223             : 
+     224         921 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     225          44 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     226          44 :           changeState(READY_STATE);
+     227          44 :           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         877 :         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         877 :         return;
+     235             :       }
+     236             : 
+     237          44 :       break;
+     238             :     }
+     239             : 
+     240         233 :     case READY_STATE: {
+     241         233 :       break;
+     242             :     }
+     243             : 
+     244          71 :     case STARTED_STATE: {
+     245             : 
+     246          71 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     247             : 
+     248          71 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     249          44 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     250          44 :         changeState(RUNNING_STATE);
+     251             :       } else {
+     252          27 :         return;
+     253             :       }
+     254          44 :       break;
+     255             :     }
+     256             : 
+     257       49760 :     case RUNNING_STATE: {
+     258       49760 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     259           0 :         changeState(ERROR_STATE);
+     260             :       }
+     261       49760 :       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       50081 :   if (!isRunning() && !isStarted()) {
+     277         277 :     return;
+     278             :   }
+     279             : 
+     280       49804 :   updateUavState();
+     281             : 
+     282       49804 :   publishUavState();
+     283       49804 :   publishOdom();
+     284       49804 :   publishCovariance();
+     285       49804 :   publishInnovation();
+     286       49804 :   publishDiagnostics();
+     287             : }
+     288             : /*//}*/
+     289             : 
+     290             : /*//{ timerCheckHealth() */
+     291           0 : void StateGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+     292             : 
+     293           0 :   if (!isInitialized()) {
+     294           0 :     return;
+     295             :   }
+     296             : 
+     297           0 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerCheckHealth", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     298             : 
+     299           0 :   switch (getCurrentSmState()) {
+     300             : 
+     301           0 :     case UNINITIALIZED_STATE: {
+     302           0 :       break;
+     303             :     }
+     304           0 :     case INITIALIZED_STATE: {
+     305             : 
+     306           0 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     307           0 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     308           0 :           changeState(READY_STATE);
+     309           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     310             :         } else {
+     311           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s subestimators to be initialized", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     312           0 :           return;
+     313             :         }
+     314             :       } else {
+     315           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: %s msg on topic %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), sh_hw_api_orient_.topicName().c_str());
+     316           0 :         return;
+     317             :       }
+     318             : 
+     319           0 :       break;
+     320             :     }
+     321             : 
+     322           0 :     case READY_STATE: {
+     323           0 :       break;
+     324             :     }
+     325             : 
+     326           0 :     case STARTED_STATE: {
+     327             : 
+     328           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     329             : 
+     330           0 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     331           0 :         changeState(ERROR_STATE);
+     332             :       }
+     333             : 
+     334           0 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     335           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     336           0 :         changeState(RUNNING_STATE);
+     337             :       } else {
+     338           0 :         return;
+     339             :       }
+     340           0 :       break;
+     341             :     }
+     342             : 
+     343           0 :     case RUNNING_STATE: {
+     344           0 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     345           0 :         changeState(ERROR_STATE);
+     346             :       }
+     347           0 :       break;
+     348             :     }
+     349             : 
+     350           0 :     case STOPPED_STATE: {
+     351           0 :       break;
+     352             :     }
+     353             : 
+     354           0 :     case ERROR_STATE: {
+     355           0 :       if (est_lat_->isReady() && est_alt_->isReady() && est_hdg_->isReady()) {
+     356           0 :         changeState(READY_STATE);
+     357             :       }
+     358           0 :       break;
+     359             :     }
+     360             :   }
+     361             : }
+     362             : /*//}*/
+     363             : 
+     364             : /* timerPubAttitude() //{*/
+     365       51281 : void StateGeneric::timerPubAttitude(const ros::TimerEvent &event) {
+     366             : 
+     367       51281 :   if (!isInitialized()) {
+     368        1289 :     return;
+     369             :   }
+     370             : 
+     371      101970 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerPubAttitude", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     372             : 
+     373       50985 :   if (!sh_hw_api_orient_.hasMsg()) {
+     374         423 :     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         423 :     return;
+     376             :   }
+     377             : 
+     378       50562 :   if (!est_hdg_->isRunning() && !isError()) {
+     379         570 :     ROS_WARN_THROTTLE(1.0, "[%s]: cannot publish attitude, heading estimator is not running", getPrintName().c_str());
+     380         570 :     return;
+     381             :   }
+     382             : 
+     383       49992 :   scope_timer.checkpoint("checks");
+     384             : 
+     385       49992 :   const ros::Time time_now = ros::Time::now();
+     386             : 
+     387       49992 :   geometry_msgs::QuaternionStamped att;
+     388       49992 :   att.header.stamp    = time_now;
+     389       49992 :   att.header.frame_id = ns_frame_id_ + "_att_only";
+     390             : 
+     391             :   double hdg;
+     392       49992 :   if (isError()) {
+     393           0 :     hdg = est_hdg_->getLastValidHdg();
+     394             :   } else {
+     395       49992 :     hdg = est_hdg_->getState(POSITION);
+     396             :   }
+     397             : 
+     398       49992 :   auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     399       49992 :   if (res) {
+     400       49992 :     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       49992 :   scope_timer.checkpoint("rotate");
+     407             : 
+     408       49992 :   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       49992 :   scope_timer.checkpoint("nan check");
+     414             : 
+     415       49992 :   ph_attitude_.publish(att);
+     416       49992 :   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       49804 : void StateGeneric::updateUavState() {
+     432             : 
+     433       49804 :   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       49804 :   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       99608 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::updateUavState", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     443             : 
+     444       49804 :   const ros::Time time_now = ros::Time::now();
+     445             : 
+     446       49804 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     447       49804 :   uav_state.header.stamp       = time_now;
+     448             : 
+     449             :   // do not rotate orientation if passthrough hdg
+     450       49804 :   if (est_hdg_name_ == "hdg_passthrough") {
+     451           0 :     uav_state.pose.orientation = sh_hw_api_orient_.getMsg()->quaternion;
+     452             :   } else {
+     453             :     double hdg;
+     454       49804 :     if (isError()) {
+     455           0 :       hdg = est_hdg_->getLastValidHdg();
+     456             :     } else {
+     457       49804 :       hdg = est_hdg_->getState(POSITION);
+     458             :     }
+     459             : 
+     460       49804 :     auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     461       49804 :     if (res) {
+     462       49804 :       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       49804 :   scope_timer.checkpoint("rotate orientation");
+     470             : 
+     471       49804 :   uav_state.velocity.angular = sh_hw_api_ang_vel_.getMsg()->vector;
+     472             : 
+     473       49804 :   uav_state.pose.position.x = est_lat_->getState(POSITION, AXIS_X);
+     474       49804 :   uav_state.pose.position.y = est_lat_->getState(POSITION, AXIS_Y);
+     475       49804 :   uav_state.pose.position.z = est_alt_->getState(POSITION);
+     476             : 
+     477       49804 :   uav_state.velocity.linear.x = est_lat_->getState(VELOCITY, AXIS_X);  // in global frame
+     478       49804 :   uav_state.velocity.linear.y = est_lat_->getState(VELOCITY, AXIS_Y);  // in global frame
+     479       49804 :   uav_state.velocity.linear.z = est_alt_->getState(VELOCITY);          // in global frame
+     480             : 
+     481       49804 :   uav_state.acceleration.linear.x = est_lat_->getState(ACCELERATION, AXIS_X);  // in global frame
+     482       49804 :   uav_state.acceleration.linear.y = est_lat_->getState(ACCELERATION, AXIS_Y);  // in global frame
+     483       49804 :   uav_state.acceleration.linear.z = est_alt_->getState(ACCELERATION);          // in global frame
+     484             : 
+     485       49804 :   scope_timer.checkpoint("fill uav state");
+     486             : 
+     487       99608 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     488       49804 :   scope_timer.checkpoint("uav state to odom");
+     489             : 
+     490       99608 :   nav_msgs::Odometry innovation = innovation_init_;
+     491       49804 :   innovation.header.stamp       = time_now;
+     492             : 
+     493       49804 :   innovation.pose.pose.position.x = est_lat_->getInnovation(POSITION, AXIS_X);
+     494       49804 :   innovation.pose.pose.position.y = est_lat_->getInnovation(POSITION, AXIS_Y);
+     495       49804 :   innovation.pose.pose.position.z = est_alt_->getInnovation(POSITION);
+     496             : 
+     497       49804 :   is_mitigating_jump_ = est_alt_->isMitigatingJump() || est_lat_->isMitigatingJump() || est_hdg_->isMitigatingJump();
+     498             : 
+     499       49804 :   scope_timer.checkpoint("innovation");
+     500             : 
+     501       99608 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     502       49804 :   pose_covariance.header.stamp  = time_now;
+     503       49804 :   twist_covariance.header.stamp = time_now;
+     504             : 
+     505       49804 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     506       49804 :   pose_covariance.values.resize(n_states * n_states);
+     507       49804 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(POSITION, AXIS_X);
+     508       49804 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(POSITION, AXIS_Y);
+     509       49804 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(POSITION);
+     510             : 
+     511       49804 :   twist_covariance.values.resize(n_states * n_states);
+     512       49804 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(VELOCITY, AXIS_X);
+     513       49804 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(VELOCITY, AXIS_Y);
+     514       49804 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(VELOCITY);
+     515             : 
+     516       49804 :   scope_timer.checkpoint("covariance");
+     517             : 
+     518       49804 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     519       49804 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     520       49804 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     521       49804 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     522       49804 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     523             : }
+     524             : /*//}*/
+     525             : 
+     526             : /*//{ getHeading() */
+     527       82031 : std::optional<double> StateGeneric::getHeading() const {
+     528       82031 :   if (!est_hdg_->isRunning()) {
+     529          70 :     return {};
+     530             :   }
+     531       81961 :   return est_hdg_->getState(POSITION);
+     532             : }
+     533             : /*//}*/
+     534             : 
+     535             : /*//{ setUavState() */
+     536           0 : bool StateGeneric::setUavState(const mrs_msgs::UavState &uav_state) {
+     537             : 
+     538           0 :   if (!isInState(STOPPED_STATE)) {
+     539           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     540           0 :     return false;
+     541             :   }
+     542             : 
+     543           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     544           0 :   return false;
+     545             : }
+     546             : /*//}*/
+     547             : 
+     548             : }  // namespace mrs_uav_state_estimators
+     549             : 
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.overview.html new file mode 100644 index 0000000000..200fa9f980 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.overview.html @@ -0,0 +1,158 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..2900f2b854c8fdbf8391333f47e3b1b1066a5d06 GIT binary patch literal 1971 zcmV;k2Tb^hP)RX!#_;9zBJ-wZR?-u9;XlY|Hk&&Tum9N+(j ztHvAOj#M7a7{|+)BRq}>OP5m~oNnIKE4b%b&FRqos{JR!1dd^vwVw5*fH-N&{yblS zF{npf#N#yAhEi7HC?KH2oiscI%A2_~{h-}4St;CW70}bxmtmYwdN@FP$H*p^>_CGt zufkaE)fh9F?Fx)mTOVd^m-_gwjsV~OsZ{c-gPRi4vk(m+TRVjlT!**Dj;l`v07kW7 z!e#rvysfr|_wKrVKmaQy>}BiJCb8Oa^}G{J$im~1l0()TM^2i@kBljq!c|uHiLJ{> zPYLrN*C0(S4Cg%WJyg4LwmUF7KqpuMFcw?{)DELSJ0)EO)Tl5!($qLQ0D^;%F1ZAA ziW(qFnmEN+cZz9}=_<}+nZYI=qaY@qEY)(jENihwvm&gi-Gu&Q0$J6&~ zku3v`!ElVLWKrrA6^uOrEB%r%aP&h=y0LWXet(Mqsv@0W^&1F%=#m&6EMtoAHXg9+gweS^*rS zn32~glV52 zadp~%l(on8cyTYqQU)+~S)4g76l2u%9XwV8DK?@7q&nu7(yYgKdS0`+s$z_pNk}$` z)R3oUUM zzNom`gywqnT)s6m__udx>1O;l6q*&xXKr7CfDIVSu%`ga*%iK#)2plCmQy9%QCHzu zb^3+pddwMYDztSKfce$6S>SpY!e)}@^>qkf1*uVt_pOi^>4Fhkgo&D;Jl+S5*sTnnZvWBjreQl3SA^C3tLu-K4Y@mcsIRm$x=)~h{? zw8{EJm{u!u3K$~^Qsj3!zZcV?h--2);_<6gb!O*``^s_602X5p5>ZTtS!jO4aqsdT z^CRlHoyVqC+^?Gut-|lTUr4vkm2l@yENb%V*ORBVX#G|9J|aB|O}Qa$0cy(x?LsPl zV(~8Zu#HaZ^&2ZzCHh)tmUXMt-FwY zq3RA-hSGJ<%ggJ|rc00Mnph>9m~!elN)>Ya^n28!Z7BFqJ#@f;GVoV)G;3R>;*O>i zUK%#0Z8g^;9CjV;kG(|uA0O^O!^3Tqw3qWz|HQVPqt{$)HK!G+d`km#Gq^TO7xwPh zIqiNdcL#v>BciD=ix2n9+Ci8uTZ_7tT#Df=o)DY-;ioJ{l=QF#h2uz*j}YmM3%1tf zHC4PHH+v4#nGmd`;Bs#Q%e{Rej+A=?*bTGy*pYIt+ZKd+x#!e_?a*M~l!`w5+=l_n zJqK8y-1pw-<|B9h(d!W!Lss1xS2~F?c1%SvUIM5o>2p$NX{#;TTm@(kj9S2RJm%7e zC4VKLmA1BPoGSt6(>x~A z;JOERNhgudVGMl5rBV!7Fkw!OpL@8g;I`mlA4fp;AM3(H#&XYA$^dR)TF;TGdH|lZ z3{mD>1Kh!O!D)Kx0r-J1*E;St$nz^^8PILl%~Svx9?6wFFi8TO$-L1OK>EChujqV~ zSJ&J6I%VBS%&N+kv-bPf0bAqGK}xy+dBAT_cx$VP?wYdK)tA@Uh>wVtnpc!icUM!T4Yo>L2r{{ZriD^SDq$1eZ?002ovPDHLk FV1hK7w8;Pf literal 0 HcmV?d00001 diff --git a/mrs_uav_testing/include/mrs_uav_testing/index-detail-sort-f.html b/mrs_uav_testing/include/mrs_uav_testing/index-detail-sort-f.html new file mode 100644 index 0000000000..38a7e7719e --- /dev/null +++ b/mrs_uav_testing/include/mrs_uav_testing/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_testing/include/mrs_uav_testing + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_testing/include/mrs_uav_testingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:11215870.9 %
Date:2023-12-06 10:06:33Functions:81172.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Test:MRS UAV System - Test coverage reportLines:11215870.9 %
Date:2023-12-06 10:06:33Functions:81172.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_testing::TestGeneric::gotoRel[abi:cxx11](double const&, double const&, double const&, double const&)0
mrs_uav_testing::TestGeneric::TestGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_testing::TestGeneric::TestGeneric(std::__cxx11::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_testing::TestGeneric::takeoff[abi:cxx11]()1
mrs_uav_testing::TestGeneric::gotoAbs[abi:cxx11](double const&, double const&, double const&, double const&)2
mrs_uav_testing::TestGeneric::activateMidAir[abi:cxx11]()3
mrs_uav_testing::TestGeneric::initialize()4
mrs_uav_testing::TestGeneric::TestGeneric()4
mrs_uav_testing::TestGeneric::flyingNormally()142
mrs_uav_testing::TestGeneric::mrsSystemReady()250
mrs_uav_testing::TestGeneric::sleep(double const&)359
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Test:MRS UAV System - Test coverage reportLines:11215870.9 %
Date:2023-12-06 10:06:33Functions:81172.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_testing::TestGeneric::initialize()4
mrs_uav_testing::TestGeneric::activateMidAir[abi:cxx11]()3
mrs_uav_testing::TestGeneric::flyingNormally()142
mrs_uav_testing::TestGeneric::mrsSystemReady()250
mrs_uav_testing::TestGeneric::sleep(double const&)359
mrs_uav_testing::TestGeneric::gotoAbs[abi:cxx11](double const&, double const&, double const&, double const&)2
mrs_uav_testing::TestGeneric::gotoRel[abi:cxx11](double const&, double const&, double const&, double const&)0
mrs_uav_testing::TestGeneric::takeoff[abi:cxx11]()1
mrs_uav_testing::TestGeneric::TestGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_testing::TestGeneric::TestGeneric(std::__cxx11::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_testing::TestGeneric::TestGeneric()4
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Current view:top level - mrs_uav_testing/include/mrs_uav_testing - test_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:11215870.9 %
Date:2023-12-06 10:06:33Functions:81172.7 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : #ifndef TEST_GENERIC_H
+       2             : #define TEST_GENERIC_H
+       3             : 
+       4             : #include <ros/ros.h>
+       5             : #include <ros/console.h>
+       6             : #include <log4cxx/logger.h>
+       7             : 
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/service_client_handler.h>
+      10             : #include <mrs_lib/transformer.h>
+      11             : #include <mrs_lib/attitude_converter.h>
+      12             : #include <mrs_lib/geometry/cyclic.h>
+      13             : #include <mrs_lib/param_loader.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : 
+      16             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      17             : #include <mrs_msgs/UavManagerDiagnostics.h>
+      18             : #include <mrs_msgs/HwApiStatus.h>
+      19             : #include <mrs_msgs/EstimationDiagnostics.h>
+      20             : #include <mrs_msgs/Vec4.h>
+      21             : #include <mrs_msgs/GainManagerDiagnostics.h>
+      22             : #include <mrs_msgs/ConstraintManagerDiagnostics.h>
+      23             : #include <mrs_msgs/GazeboSpawnerDiagnostics.h>
+      24             : #include <mrs_msgs/String.h>
+      25             : #include <mrs_msgs/UavState.h>
+      26             : 
+      27             : #include <std_srvs/SetBool.h>
+      28             : #include <std_srvs/Trigger.h>
+      29             : 
+      30             : namespace mrs_uav_testing
+      31             : {
+      32             : 
+      33             : using radians  = mrs_lib::geometry::radians;
+      34             : using sradians = mrs_lib::geometry::sradians;
+      35             : 
+      36             : using namespace std;
+      37             : 
+      38             : /* TestGeneric //{ */
+      39             : 
+      40             : class TestGeneric {
+      41             : 
+      42             : public:
+      43             :   TestGeneric();
+      44             : 
+      45             :   void initialize(void);
+      46             : 
+      47             :   virtual bool test() = 0;
+      48             : 
+      49             :   std::shared_ptr<mrs_lib::ParamLoader> pl_;
+      50             : 
+      51             : protected:
+      52             :   ros::NodeHandle                       nh_;
+      53             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+      54             : 
+      55             :   tuple<bool, string> takeoff(void);
+      56             :   tuple<bool, string> activateMidAir(void);
+      57             : 
+      58             :   tuple<bool, string> gotoAbs(const double &x, const double &y, const double &z, const double &hdg);
+      59             :   tuple<bool, string> gotoRel(const double &x, const double &y, const double &z, const double &hdg);
+      60             :   tuple<bool, string> spawnGazeboUav();
+      61             : 
+      62             :   void sleep(const double &duration);
+      63             : 
+      64             :   bool hasGoal(void);
+      65             :   bool isFlyingNormally(void);
+      66             :   bool isOutputEnabled(void);
+      67             :   bool isAtPosition(const double &x, const double &y, const double &z, const double &hdg, const double &pos_tolerance);
+      68             : 
+      69             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>    sh_control_manager_diag_;
+      70             :   mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>        sh_uav_manager_diag_;
+      71             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>        sh_estim_manager_diag_;
+      72             :   mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>       sh_gain_manager_diag_;
+      73             :   mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics> sh_constraint_manager_diag_;
+      74             :   mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>     sh_gazebo_spawner_diag_;
+      75             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState>                     sh_uav_state_;
+      76             : 
+      77             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus> sh_hw_api_status_;
+      78             : 
+      79             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_arming_;
+      80             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_offboard_;
+      81             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_midair_activation_;
+      82             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>  sch_spawn_gazebo_uav_;
+      83             : 
+      84             :   mrs_lib::ServiceClientHandler<mrs_msgs::Vec4> sch_goto_;
+      85             :   mrs_lib::ServiceClientHandler<mrs_msgs::Vec4> sch_goto_relative_;
+      86             : 
+      87             :   string _uav_name_;
+      88             :   string _gazebo_spawner_params_;
+      89             :   string _test_name_;
+      90             :   string name_;
+      91           4 : 
+      92             :   bool mrsSystemReady(void);
+      93           4 : 
+      94           4 : private:
+      95             :   shared_ptr<ros::AsyncSpinner> spinner_;
+      96           4 : };
+      97           4 : 
+      98             : //}
+      99           0 : 
+     100             : }  // namespace mrs_uav_testing
+     101           0 : 
+     102             : #endif  // TEST_GENERIC_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_testing/include/mrs_uav_testing/test_generic.h.gcov.overview.html b/mrs_uav_testing/include/mrs_uav_testing/test_generic.h.gcov.overview.html new file mode 100644 index 0000000000..72d6a03103 --- /dev/null +++ b/mrs_uav_testing/include/mrs_uav_testing/test_generic.h.gcov.overview.html @@ -0,0 +1,46 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_testing/include/mrs_uav_testing/test_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 + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_testing/include/mrs_uav_testing/test_generic.h.gcov.png b/mrs_uav_testing/include/mrs_uav_testing/test_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..f91ccafeca97e9d4a0e8d75b8cb65ac941f296ce GIT binary patch literal 457 zcmV;)0XF`LP)e2Ig^MG)uV`kzg*A)!H3RWI5 z%%FmvK_=TAlVDIzp#(=l%O%wy=-BKKTs17QJyHg@`#4ez;5c3kUUkhjK+O@)u~!bL zt7B)nU~nijA$}$^UxW^U$*TjlXIOwU3GI$#cHp{wSv-5IMjh)yW}U~IX1BGoBQ*a* zj-f$5G|0%ZJ|!kM2wtwRr{#Z&IZlm3GSTiJ6*zqam5vlAD6VSw7Jrxk=MPCvlYPwN zq+uQf%?Z5C6kyNwe20@;=wlxTis|YA6fiqkfrNsb_KF6Q=165*4ElKg&fRyca&3kt z6wD9W8dc*`mERgAv&U= z@f@W%68Hw?KI`YZ>Hi3yO%Qh6T;AVRvD@?m?qIJ8z6pf(00000NkvXXu0mjfc;&u$ literal 0 HcmV?d00001 diff --git a/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html b/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..4a6cb857fe --- /dev/null +++ b/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/joy_tracker + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trackers/src/joy_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6314244.4 %
Date:2023-12-06 10:06:33Functions:71838.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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joy_tracker.cpp +
44.4%44.4%
+ 		44.4 %63 / 14238.9 %7 / 18
<unnamed>44.4 %63 / 14238.9 %7 / 18
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Current view:top level - mrs_uav_trackers/src/joy_tracker - joy_tracker.cpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::joy_tracker::JoyTracker::resetStatic()0
mrs_uav_trackers::joy_tracker::JoyTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::getStatus()0
mrs_uav_trackers::joy_tracker::JoyTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()6
(anonymous namespace)::ProxyExec0::ProxyExec0()47
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>)47
mrs_uav_trackers::joy_tracker::JoyTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
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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:6314244.4 %
Date:2023-12-06 10:06:33Functions:71838.9 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()6
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>)47
mrs_uav_trackers::joy_tracker::JoyTracker::resetStatic()0
mrs_uav_trackers::joy_tracker::JoyTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::joy_tracker::JoyTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::joy_tracker::JoyTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
mrs_uav_trackers::joy_tracker::JoyTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::getStatus()0
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Current view:top level - mrs_uav_trackers/src/joy_tracker - joy_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6314244.4 %
Date:2023-12-06 10:06:33Functions:71838.9 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : #include <sensor_msgs/Joy.h>
+      10             : 
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/mutex.h>
+      13             : #include <mrs_lib/attitude_converter.h>
+      14             : #include <mrs_lib/subscribe_handler.h>
+      15             : #include <mrs_lib/geometry/cyclic.h>
+      16             : 
+      17             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      18             : 
+      19             : //}
+      20             : 
+      21             : /* defines //{ */
+      22             : 
+      23             : #define STOP_THR 1e-3
+      24             : 
+      25             : //}
+      26             : 
+      27             : /* using //{ */
+      28             : 
+      29             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      30             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      31             : 
+      32             : using radians  = mrs_lib::geometry::radians;
+      33             : using sradians = mrs_lib::geometry::sradians;
+      34             : 
+      35             : //}
+      36             : 
+      37             : namespace mrs_uav_trackers
+      38             : {
+      39             : 
+      40             : namespace joy_tracker
+      41             : {
+      42             : 
+      43             : /* //{ class JoyTracker */
+      44             : 
+      45             : class JoyTracker : public mrs_uav_managers::Tracker {
+      46             : public:
+      47             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      48             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      49             : 
+      50             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      51             :   void                          deactivate(void);
+      52             :   bool                          resetStatic(void);
+      53             : 
+      54             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      55             :   const mrs_msgs::TrackerStatus             getStatus();
+      56             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      57             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      58             : 
+      59             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      60             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      61             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      62             : 
+      63             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      64             : 
+      65             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      66             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      67             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      68             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      69             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      70             : 
+      71             : private:
+      72             :   ros::NodeHandle nh_;
+      73             : 
+      74             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      75             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      76             : 
+      77             :   bool callbacks_enabled_ = true;
+      78             : 
+      79             :   std::string _uav_name_;
+      80             : 
+      81             :   bool is_initialized_ = false;
+      82             :   bool is_active_      = false;
+      83             : 
+      84             :   ros::Time last_update;
+      85             : 
+      86             :   // | ------------------------ uav state ----------------------- |
+      87             : 
+      88             :   mrs_msgs::UavState uav_state_;
+      89             :   bool               got_uav_state_ = false;
+      90             :   std::mutex         mutex_uav_state_;
+      91             : 
+      92             :   // | ------------------ dynamics constraints ------------------ |
+      93             : 
+      94             :   double     _heading_rate_;
+      95             :   std::mutex mutex_constraints_;
+      96             : 
+      97             :   // | ------------------ tracker's inner state ----------------- |
+      98             : 
+      99             :   double     state_z_;
+     100             :   double     state_heading_;
+     101             :   std::mutex mutex_state_;
+     102             : 
+     103             :   // | ------------------- joystick subscriber ------------------ |
+     104             : 
+     105             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     106             : 
+     107             :   double _max_tilt_;
+     108             :   double _vertical_speed_;
+     109             : 
+     110             :   // channel numbers and channel multipliers
+     111             :   int    _channel_pitch_;
+     112             :   int    _channel_roll_;
+     113             :   int    _channel_heading_;
+     114             :   int    _channel_throttle_;
+     115             :   double _channel_mult_pitch_;
+     116             :   double _channel_mult_roll_;
+     117             :   double _channel_mult_heading_;
+     118             :   double _channel_mult_throttle_;
+     119             : 
+     120             :   // | ------------------------ profiler ------------------------ |
+     121             : 
+     122             :   mrs_lib::Profiler profiler_;
+     123             :   bool              _profiler_enabled_ = false;
+     124             : };
+     125             : 
+     126             : //}
+     127             : 
+     128             : // | -------------- tracker's interface routines -------------- |
+     129             : 
+     130             : /* //{ initialize() */
+     131             : 
+     132          47 : 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          47 :   this->common_handlers_  = common_handlers;
+     136          47 :   this->private_handlers_ = private_handlers;
+     137             : 
+     138          47 :   _uav_name_ = common_handlers->uav_name;
+     139             : 
+     140          47 :   nh_ = nh;
+     141             : 
+     142          47 :   ros::Time::waitForValid();
+     143             : 
+     144             :   // --------------------------------------------------------------
+     145             :   // |                     loading parameters                     |
+     146             :   // --------------------------------------------------------------
+     147             : 
+     148             :   // | ---------- loading params using the parent's nh ---------- |
+     149             : 
+     150          94 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     151             : 
+     152          47 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154          47 :   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          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/joy_tracker.yaml");
+     162          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/joy_tracker.yaml");
+     163             : 
+     164          94 :   const std::string yaml_prefix = "mrs_uav_trackers/joy_tracker/";
+     165             : 
+     166          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     167             : 
+     168          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_tilt", _max_tilt_);
+     169             : 
+     170          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     171             : 
+     172             :   // load channels
+     173          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/pitch", _channel_pitch_);
+     174          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/roll", _channel_roll_);
+     175          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/heading", _channel_heading_);
+     176          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/throttle", _channel_throttle_);
+     177             : 
+     178             :   // load channel multipliers
+     179          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/pitch", _channel_mult_pitch_);
+     180          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/roll", _channel_mult_roll_);
+     181          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/heading", _channel_mult_heading_);
+     182          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/throttle", _channel_mult_throttle_);
+     183             : 
+     184          47 :   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          47 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "JoyTracker", _profiler_enabled_);
+     192             : 
+     193             :   // | ----------------------- subscribers ---------------------- |
+     194             : 
+     195          47 :   mrs_lib::SubscribeHandlerOptions shopts;
+     196          47 :   shopts.nh              = nh_;
+     197          47 :   shopts.node_name       = "JoyTracker";
+     198          47 :   shopts.queue_size      = 1;
+     199          47 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     200             : 
+     201          47 :   sh_joystick_ = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick");
+     202             : 
+     203             :   // | --------------------- finish the init -------------------- |
+     204             : 
+     205          47 :   last_update = ros::Time(0);
+     206             : 
+     207          47 :   is_initialized_ = true;
+     208             : 
+     209          47 :   ROS_INFO("[JoyTracker]: initialized");
+     210             : 
+     211          47 :   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           6 : void JoyTracker::deactivate(void) {
+     277             : 
+     278           6 :   is_active_ = false;
+     279             : 
+     280           6 :   ROS_INFO("[JoyTracker]: deactivated");
+     281           6 : }
+     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       38166 : 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      114498 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     300      114498 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("JoyTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     301             : 
+     302             :   {
+     303       38166 :     std::scoped_lock lock(mutex_uav_state_);
+     304             : 
+     305       38166 :     uav_state_ = uav_state;
+     306             : 
+     307       38166 :     got_uav_state_ = true;
+     308             :   }
+     309             : 
+     310       38166 :   double dt = (ros::Time::now() - last_update).toSec();
+     311             : 
+     312       38166 :   last_update = ros::Time::now();
+     313             : 
+     314             :   // up to this part the update() method is evaluated even when the tracker is not active
+     315       38166 :   if (!is_active_) {
+     316       38166 :     return {};
+     317             :   }
+     318             : 
+     319           0 :   if (!sh_joystick_.hasMsg()) {
+     320           0 :     return {};
+     321             :   }
+     322             : 
+     323             :   // | ------------------ get the joystick data ----------------- |
+     324             : 
+     325           0 :   sensor_msgs::JoyConstPtr joy_data = sh_joystick_.getMsg();
+     326             : 
+     327           0 :   double desired_vertical_speed = _channel_mult_throttle_ * joy_data->axes[_channel_throttle_] * _vertical_speed_;
+     328           0 :   double desired_heading_rate   = _channel_mult_heading_ * joy_data->axes[_channel_heading_] * _heading_rate_;
+     329           0 :   double desired_pitch          = _channel_mult_pitch_ * joy_data->axes[_channel_pitch_] * _max_tilt_;
+     330           0 :   double desired_roll           = _channel_mult_roll_ * joy_data->axes[_channel_roll_] * _max_tilt_;
+     331             : 
+     332             :   // | ----------------------- z tracking ----------------------- |
+     333             : 
+     334           0 :   state_z_ += desired_vertical_speed * dt;
+     335             : 
+     336             :   // | -------------------- heading tracking -------------------- |
+     337             : 
+     338           0 :   state_heading_ += desired_heading_rate * dt;
+     339           0 :   state_heading_ = radians::wrap(state_heading_);
+     340             : 
+     341           0 :   ROS_INFO_THROTTLE(1.0, "[JoyTracker]: desired vert_speed: %.2f, heading_speed: %.2f, pitch: %.2f, roll: %.2f", desired_vertical_speed, desired_heading_rate,
+     342             :                     desired_pitch, desired_roll);
+     343             : 
+     344           0 :   mrs_msgs::TrackerCommand tracker_cmd;
+     345             : 
+     346           0 :   tracker_cmd.header.stamp    = ros::Time::now();
+     347           0 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     348             : 
+     349           0 :   tracker_cmd.use_position_vertical = true;
+     350           0 :   tracker_cmd.position.z            = state_z_;
+     351             : 
+     352             :   // filling these anyway to allow visualization of the reference
+     353           0 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     354           0 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     355             : 
+     356           0 :   tracker_cmd.use_velocity_vertical = true;
+     357           0 :   tracker_cmd.velocity.z            = desired_vertical_speed;
+     358             : 
+     359           0 :   tracker_cmd.use_heading_rate = 1;
+     360           0 :   tracker_cmd.heading_rate     = desired_heading_rate;
+     361             : 
+     362             :   /* tracker_cmd.orientation     = mrs_lib::AttitudeConverter(desired_roll, desired_pitch, 0).setHeadingByYaw(state_heading_); */
+     363           0 :   tracker_cmd.orientation     = mrs_lib::AttitudeConverter(desired_roll, desired_pitch, state_heading_);
+     364           0 :   tracker_cmd.use_orientation = true;
+     365             : 
+     366           0 :   return {tracker_cmd};
+     367             : }
+     368             : 
+     369             : //}
+     370             : 
+     371             : /* //{ getStatus() */
+     372             : 
+     373           0 : const mrs_msgs::TrackerStatus JoyTracker::getStatus() {
+     374             : 
+     375           0 :   mrs_msgs::TrackerStatus tracker_status;
+     376             : 
+     377           0 :   tracker_status.active            = is_active_;
+     378           0 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     379             : 
+     380           0 :   return tracker_status;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : /* //{ enableCallbacks() */
+     386             : 
+     387           2 : const std_srvs::SetBoolResponse::ConstPtr JoyTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     388             : 
+     389           4 :   std_srvs::SetBoolResponse res;
+     390           4 :   std::stringstream         ss;
+     391             : 
+     392           2 :   if (cmd->data != callbacks_enabled_) {
+     393             : 
+     394           0 :     callbacks_enabled_ = cmd->data;
+     395             : 
+     396           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     397           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     398             : 
+     399             :   } else {
+     400             : 
+     401           2 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     402           2 :     ROS_WARN_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     403             :   }
+     404             : 
+     405           2 :   res.message = ss.str();
+     406           2 :   res.success = true;
+     407             : 
+     408           4 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     409             : }
+     410             : 
+     411             : //}
+     412             : 
+     413             : /* switchOdometrySource() //{ */
+     414             : 
+     415           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     416           0 :   return std_srvs::TriggerResponse::Ptr();
+     417             : }
+     418             : 
+     419             : //}
+     420             : 
+     421             : /* //{ hover() */
+     422             : 
+     423           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     424             : 
+     425           0 :   return std_srvs::TriggerResponse::Ptr();
+     426             : }
+     427             : 
+     428             : //}
+     429             : 
+     430             : /* //{ startTrajectoryTracking() */
+     431             : 
+     432           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     433           0 :   return std_srvs::TriggerResponse::Ptr();
+     434             : }
+     435             : 
+     436             : //}
+     437             : 
+     438             : /* //{ stopTrajectoryTracking() */
+     439             : 
+     440           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     441           0 :   return std_srvs::TriggerResponse::Ptr();
+     442             : }
+     443             : 
+     444             : //}
+     445             : 
+     446             : /* //{ resumeTrajectoryTracking() */
+     447             : 
+     448           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     449           0 :   return std_srvs::TriggerResponse::Ptr();
+     450             : }
+     451             : 
+     452             : //}
+     453             : 
+     454             : /* //{ gotoTrajectoryStart() */
+     455             : 
+     456           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     457           0 :   return std_srvs::TriggerResponse::Ptr();
+     458             : }
+     459             : 
+     460             : //}
+     461             : 
+     462             : /* //{ setConstraints() */
+     463             : 
+     464         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr JoyTracker::setConstraints([
+     465             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     466             : 
+     467         147 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     468             : }
+     469             : 
+     470             : //}
+     471             : 
+     472             : /* //{ setReference() */
+     473             : 
+     474           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr JoyTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     475             : 
+     476           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     477             : }
+     478             : 
+     479             : //}
+     480             : 
+     481             : /* //{ setVelocityReference() */
+     482             : 
+     483           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr JoyTracker::setVelocityReference([
+     484             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     485           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     486             : }
+     487             : 
+     488             : //}
+     489             : 
+     490             : /* //{ setTrajectoryReference() */
+     491             : 
+     492           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr JoyTracker::setTrajectoryReference([
+     493             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     494           1 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     495             : }
+     496             : 
+     497             : //}
+     498             : 
+     499             : }  // namespace joy_tracker
+     500             : 
+     501             : }  // namespace mrs_uav_trackers
+     502             : 
+     503             : #include <pluginlib/class_list_macros.h>
+     504          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::joy_tracker::JoyTracker, mrs_uav_managers::Tracker)
+
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Current view:top level - mrs_uav_trackers/src/landoff_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:42459271.6 %
Date:2023-12-06 10:06:33Functions:213167.7 %
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landoff_tracker.cpp +
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Current view:top level - mrs_uav_trackers/src/landoff_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:42459271.6 %
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Current view:top level - mrs_uav_trackers/src/landoff_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:42459271.6 %
Date:2023-12-06 10:06:33Functions:213167.7 %
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/landoff_tracker - landoff_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:42459271.6 %
Date:2023-12-06 10:06:33Functions:213167.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::landoff_tracker::LandoffTracker::resetStatic()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVertical()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackELand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)3
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)5
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)13
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()19
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)38
(anonymous namespace)::ProxyExec0::ProxyExec0()47
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>)47
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateHorizontal(mrs_uav_trackers::landoff_tracker::States_t)48
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)58
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()126
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontalMotion()126
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()666
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()1120
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()5129
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()6249
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)6660
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.func.html b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.func.html new file mode 100644 index 0000000000..1f4fac916e --- /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 + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trackers/src/landoff_tracker - landoff_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:42459271.6 %
Date:2023-12-06 10:06:33Functions: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()47
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()19
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>)47
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)38
mrs_uav_trackers::landoff_tracker::LandoffTracker::resetStatic()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_trackers::landoff_tracker::LandoffTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVertical()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackELand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)3
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()6249
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)5
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()5129
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()1120
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()126
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)58
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()126
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)48
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)13
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()666
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)6660
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/landoff_tracker - landoff_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:42459271.6 %
Date:2023-12-06 10:06:33Functions:213167.7 %
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_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          47 : 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          47 :   this->common_handlers_  = common_handlers;
+     215          47 :   this->private_handlers_ = private_handlers;
+     216             : 
+     217          47 :   _uav_name_ = common_handlers->uav_name;
+     218             : 
+     219          47 :   nh_ = nh;
+     220             : 
+     221          47 :   ros::Time::waitForValid();
+     222             : 
+     223             :   // --------------------------------------------------------------
+     224             :   // |                     loading parameters                     |
+     225             :   // --------------------------------------------------------------
+     226             : 
+     227             :   // | ---------- loading params using the parent's nh ---------- |
+     228             : 
+     229          94 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     230             : 
+     231          47 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     232             : 
+     233          47 :   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          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/landoff_tracker.yaml");
+     241          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/landoff_tracker.yaml");
+     242             : 
+     243          94 :   const std::string yaml_prefix = "mrs_uav_trackers/landoff_tracker/";
+     244             : 
+     245          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_speed", _horizontal_speed_);
+     246          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_acceleration", _horizontal_acceleration_);
+     247             : 
+     248          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     249          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_acceleration", _vertical_acceleration_);
+     250             : 
+     251          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_speed", _takeoff_speed_);
+     252          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_acceleration", _takeoff_acceleration_);
+     253             : 
+     254          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_speed", _landing_speed_);
+     255          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_acceleration", _landing_acceleration_);
+     256             : 
+     257          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_speed", _elanding_speed_);
+     258          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_acceleration", _elanding_acceleration_);
+     259             : 
+     260          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     261          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_gain", _heading_gain_);
+     262             : 
+     263          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "main_timer_rate", _main_timer_rate_);
+     264             : 
+     265          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "landing_reference", _landing_reference_);
+     266             : 
+     267          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_position_difference", _max_position_difference_);
+     268             : 
+     269          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains", _takeoff_disable_lateral_gains_);
+     270          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains_z", _takeoff_disable_lateral_gains_z_);
+     271             : 
+     272          47 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     273           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     274           0 :     return false;
+     275             :   }
+     276             : 
+     277          47 :   _tracker_dt_ = 1.0 / double(_main_timer_rate_);
+     278             : 
+     279          47 :   ROS_INFO("[LandoffTracker]: tracker_dt: %f", _tracker_dt_);
+     280             : 
+     281          47 :   state_x_       = 0;
+     282          47 :   state_y_       = 0;
+     283          47 :   state_z_       = 0;
+     284          47 :   state_heading_ = 0;
+     285             : 
+     286          47 :   speed_x_       = 0;
+     287          47 :   speed_y_       = 0;
+     288          47 :   speed_heading_ = 0;
+     289             : 
+     290          47 :   current_horizontal_speed_ = 0;
+     291          47 :   current_vertical_speed_   = 0;
+     292             : 
+     293          47 :   current_horizontal_acceleration_ = 0;
+     294          47 :   current_vertical_acceleration_   = 0;
+     295             : 
+     296          47 :   current_vertical_direction_ = 0;
+     297             : 
+     298          47 :   current_state_vertical_  = LANDED_STATE;
+     299          47 :   previous_state_vertical_ = LANDED_STATE;
+     300             : 
+     301          47 :   current_state_horizontal_  = LANDED_STATE;
+     302          47 :   previous_state_horizontal_ = LANDED_STATE;
+     303             : 
+     304             :   // | ------------------------ profiler ------------------------ |
+     305             : 
+     306          47 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "LandoffTracker", _profiler_enabled_);
+     307             : 
+     308             :   // | ------------------------ services ------------------------ |
+     309             : 
+     310          47 :   service_takeoff_ = nh_.advertiseService("takeoff", &LandoffTracker::callbackTakeoff, this);
+     311          47 :   service_land_    = nh_.advertiseService("land", &LandoffTracker::callbackLand, this);
+     312          47 :   service_eland_   = nh_.advertiseService("eland", &LandoffTracker::callbackELand, this);
+     313             : 
+     314             :   // | ------------------------- timers ------------------------- |
+     315             : 
+     316          47 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &LandoffTracker::timerMain, this, false, false);
+     317             : 
+     318             :   // | ----------------------- finish init ---------------------- |
+     319             : 
+     320          47 :   is_initialized_ = true;
+     321             : 
+     322          47 :   ROS_INFO("[LandoffTracker]: initialized");
+     323             : 
+     324          47 :   return true;
+     325             : }
+     326             : 
+     327             : //}
+     328             : 
+     329             : /* //{ activate() */
+     330             : 
+     331          13 : std::tuple<bool, std::string> LandoffTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     332             : 
+     333          26 :   std::stringstream ss;
+     334             : 
+     335          13 :   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          26 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     344             : 
+     345             :   double uav_heading;
+     346             : 
+     347             :   try {
+     348          13 :     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          26 :     std::scoped_lock lock(mutex_goal_);
+     363             : 
+     364             :     // the last command is usable
+     365          13 :     state_x_       = uav_state.pose.position.x;
+     366          13 :     state_y_       = uav_state.pose.position.y;
+     367          13 :     state_z_       = uav_state.pose.position.z;
+     368          13 :     state_heading_ = uav_heading;
+     369             : 
+     370          13 :     speed_x_         = uav_state.velocity.linear.x;
+     371          13 :     speed_y_         = uav_state.velocity.linear.y;
+     372          13 :     current_heading_ = atan2(speed_y_, speed_x_);
+     373             : 
+     374          13 :     current_horizontal_speed_ = sqrt(pow(speed_x_, 2) + pow(speed_y_, 2));
+     375             : 
+     376          13 :     current_vertical_speed_     = fabs(uav_state.velocity.linear.z);
+     377          13 :     current_vertical_direction_ = uav_state.velocity.linear.z > 0 ? +1 : -1;
+     378             : 
+     379          13 :     current_horizontal_acceleration_ = 0;
+     380          13 :     current_vertical_acceleration_   = 0;
+     381             : 
+     382          13 :     goal_heading_ = uav_heading;
+     383             : 
+     384          13 :     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          13 :     std::scoped_lock lock(mutex_state_);
+     395             : 
+     396          13 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     397          13 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     398          13 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     399          13 :     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          13 :     std::scoped_lock lock(mutex_state_);
+     410             : 
+     411          13 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     412          13 :     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          13 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     421             : 
+     422          13 :     goal_x_ = state_x_ + stop_dist_x;
+     423          13 :     goal_y_ = state_y_ + stop_dist_y;
+     424          13 :     goal_z_ = state_z_ + vertical_stop_dist;
+     425             :   }
+     426             : 
+     427          13 :   landing_        = false;
+     428          13 :   taking_off_     = false;
+     429          13 :   is_active_      = true;
+     430          13 :   have_goal_      = false;
+     431          13 :   cause_failsafe_ = false;
+     432             : 
+     433          13 :   timer_main_.start();
+     434             : 
+     435             :   {
+     436          26 :     std::scoped_lock lock(mutex_goal_);
+     437             : 
+     438          13 :     ROS_INFO("[LandoffTracker]: stopping goal: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     439             :   }
+     440             : 
+     441          13 :   changeState(STOP_MOTION_STATE);
+     442             : 
+     443          13 :   ss << "activated";
+     444          13 :   ROS_INFO_STREAM("[LandoffTracker]: " << ss.str());
+     445             : 
+     446          13 :   return std::tuple(true, ss.str());
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : /* //{ deactivate() */
+     452             : 
+     453          19 : void LandoffTracker::deactivate(void) {
+     454             : 
+     455          19 :   is_active_                = false;
+     456          19 :   landing_                  = false;
+     457          19 :   taking_off_               = false;
+     458          19 :   current_state_vertical_   = IDLE_STATE;
+     459          19 :   current_state_horizontal_ = IDLE_STATE;
+     460             : 
+     461          19 :   timer_main_.stop();
+     462             : 
+     463          19 :   ROS_INFO("[LandoffTracker]: deactivated");
+     464          19 : }
+     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       38166 : 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      114498 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     483      114498 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     484             : 
+     485             :   {
+     486       38166 :     std::scoped_lock lock(mutex_uav_state_);
+     487             : 
+     488       38166 :     uav_state_ = uav_state;
+     489             : 
+     490       38166 :     got_uav_state_ = true;
+     491             :   }
+     492             : 
+     493             :   // up to this part the update() method is evaluated even when the tracker is not active
+     494       38166 :   if (!is_active_ || cause_failsafe_) {
+     495       31998 :     return {};
+     496             :   }
+     497             : 
+     498        6168 :   position_output_.header.stamp    = ros::Time::now();
+     499        6168 :   position_output_.header.frame_id = uav_state_.header.frame_id;
+     500             : 
+     501             :   {
+     502        6168 :     std::scoped_lock lock(mutex_state_);
+     503             : 
+     504        6168 :     position_output_.position.x = state_x_;
+     505        6168 :     position_output_.position.y = state_y_;
+     506        6168 :     position_output_.position.z = state_z_;
+     507        6168 :     position_output_.heading    = state_heading_;
+     508             : 
+     509        6168 :     position_output_.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     510        6168 :     position_output_.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     511        6168 :     position_output_.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     512        6168 :     position_output_.heading_rate = speed_heading_;
+     513             : 
+     514        6168 :     position_output_.use_position_vertical   = 1;
+     515        6168 :     position_output_.use_position_horizontal = 1;
+     516        6168 :     position_output_.use_heading             = 1;
+     517        6168 :     position_output_.use_heading_rate        = 1;
+     518        6168 :     position_output_.use_velocity_vertical   = 1;
+     519        6168 :     position_output_.use_velocity_horizontal = 1;
+     520             :   }
+     521             : 
+     522             :   {
+     523       12336 :     std::scoped_lock lock(mutex_last_control_output_);
+     524             : 
+     525        6168 :     last_control_output_ = last_control_output;
+     526             :   }
+     527             : 
+     528        6168 :   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        6168 :     position_output_.disable_position_gains = false;
+     532             :   }
+     533             : 
+     534        6168 :   if (taking_off_) {
+     535        2054 :     position_output_.disable_antiwindups = true;
+     536             :   } else {
+     537        4114 :     position_output_.disable_antiwindups = false;
+     538             :   }
+     539             : 
+     540        6168 :   return {position_output_};
+     541             : }
+     542             : 
+     543             : //}
+     544             : 
+     545             : /* //{ getStatus() */
+     546             : 
+     547         666 : const mrs_msgs::TrackerStatus LandoffTracker::getStatus() {
+     548             : 
+     549         666 :   mrs_msgs::TrackerStatus tracker_status;
+     550             : 
+     551         666 :   tracker_status.active            = is_active_;
+     552         666 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     553             : 
+     554         666 :   bool hovering = current_state_vertical_ == HOVER_STATE && current_state_horizontal_ == HOVER_STATE;
+     555         666 :   bool idling   = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     556             : 
+     557         666 :   tracker_status.have_goal = landing_ || taking_off_ || !(hovering || idling);
+     558             : 
+     559         666 :   tracker_status.tracking_trajectory = false;
+     560             : 
+     561         666 :   return tracker_status;
+     562             : }
+     563             : 
+     564             : //}
+     565             : 
+     566             : /* //{ enableCallbacks() */
+     567             : 
+     568           2 : const std_srvs::SetBoolResponse::ConstPtr LandoffTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+     569             : 
+     570           4 :   std_srvs::SetBoolResponse res;
+     571           4 :   std::stringstream         ss;
+     572             : 
+     573           2 :   if (cmd->data != callbacks_enabled_) {
+     574             : 
+     575           0 :     callbacks_enabled_ = cmd->data;
+     576             : 
+     577           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     578           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     579             : 
+     580             :   } else {
+     581             : 
+     582           2 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     583           2 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     584             :   }
+     585             : 
+     586           2 :   res.message = ss.str();
+     587           2 :   res.success = true;
+     588             : 
+     589           4 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     590             : }
+     591             : 
+     592             : //}
+     593             : 
+     594             : /* switchOdometrySource() //{ */
+     595             : 
+     596           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState& new_uav_state) {
+     597             : 
+     598           0 :   std::scoped_lock lock(mutex_goal_, mutex_state_);
+     599             : 
+     600           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     601             : 
+     602           0 :   double old_heading  = 0;
+     603           0 :   double new_heading  = 0;
+     604           0 :   bool   got_headings = true;
+     605             : 
+     606             :   try {
+     607           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     608             :   }
+     609           0 :   catch (...) {
+     610           0 :     ROS_ERROR_THROTTLE(1.0, "[LandoffTracker]: could not calculate the old UAV heading");
+     611           0 :     got_headings = false;
+     612             :   }
+     613             : 
+     614             :   try {
+     615           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+     616             :   }
+     617           0 :   catch (...) {
+     618           0 :     ROS_ERROR_THROTTLE(1.0, "[LandoffTracker]: could not calculate the new UAV heading");
+     619           0 :     got_headings = false;
+     620             :   }
+     621             : 
+     622           0 :   std_srvs::TriggerResponse res;
+     623             : 
+     624           0 :   if (!got_headings) {
+     625           0 :     res.message = "could not calculate the heading difference";
+     626           0 :     res.success = false;
+     627             : 
+     628           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     629             :   }
+     630             : 
+     631             :   // | --------- recalculate the goal to new coordinates -------- |
+     632             : 
+     633           0 :   double dx       = new_uav_state.pose.position.x - uav_state.pose.position.x;
+     634           0 :   double dy       = new_uav_state.pose.position.y - uav_state.pose.position.y;
+     635           0 :   double dz       = new_uav_state.pose.position.z - uav_state.pose.position.z;
+     636           0 :   double dheading = new_heading - old_heading;
+     637             : 
+     638           0 :   goal_x_ += dx;
+     639           0 :   goal_y_ += dy;
+     640           0 :   goal_z_ += dz;
+     641           0 :   goal_heading_ += dheading;
+     642             : 
+     643             :   // | -------------------- update the state -------------------- |
+     644             : 
+     645           0 :   state_x_ += dx;
+     646           0 :   state_y_ += dy;
+     647           0 :   state_z_ += dz;
+     648           0 :   state_heading_ += dheading;
+     649             : 
+     650           0 :   current_heading_ = atan2(goal_y_ - state_y_, goal_x_ - state_x_);
+     651             : 
+     652           0 :   res.message = "odometry source switched";
+     653           0 :   res.success = true;
+     654             : 
+     655           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     656             : }
+     657             : 
+     658             : //}
+     659             : 
+     660             : /* //{ hover() */
+     661           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     662             : 
+     663           0 :   std::scoped_lock lock(mutex_main_timer_);
+     664             : 
+     665             :   // copy member variables
+     666           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     667             : 
+     668           0 :   auto [current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] =
+     669           0 :       mrs_lib::get_mutexed(mutex_state_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+     670             : 
+     671           0 :   std_srvs::TriggerResponse res;
+     672             : 
+     673             :   // --------------------------------------------------------------
+     674             :   // |          horizontal initial conditions prediction          |
+     675             :   // --------------------------------------------------------------
+     676             :   {
+     677           0 :     std::scoped_lock lock(mutex_state_);
+     678             : 
+     679           0 :     current_horizontal_speed_ = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2));
+     680           0 :     current_vertical_speed_   = uav_state.velocity.linear.z;
+     681           0 :     current_heading_          = atan2(uav_state.velocity.linear.y, uav_state.velocity.linear.x);
+     682             :   }
+     683             : 
+     684             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     685             : 
+     686           0 :   horizontal_t_stop    = current_horizontal_speed / _horizontal_acceleration_;
+     687           0 :   horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed) / 2.0;
+     688           0 :   stop_dist_x          = cos(current_heading) * horizontal_stop_dist;
+     689           0 :   stop_dist_y          = sin(current_heading) * horizontal_stop_dist;
+     690             : 
+     691             :   // --------------------------------------------------------------
+     692             :   // |           vertical initial conditions prediction           |
+     693             :   // --------------------------------------------------------------
+     694             : 
+     695           0 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+     696           0 :   double vertical_stop_dist = current_vertical_direction * (vertical_t_stop * current_vertical_speed) / 2.0;
+     697             : 
+     698             :   // --------------------------------------------------------------
+     699             :   // |                        set the goal                        |
+     700             :   // --------------------------------------------------------------
+     701             : 
+     702             :   {
+     703           0 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+     704             : 
+     705           0 :     goal_x_ = state_x_ + stop_dist_x;
+     706           0 :     goal_y_ = state_y_ + stop_dist_y;
+     707           0 :     goal_z_ = state_z_ + vertical_stop_dist;
+     708             :   }
+     709             : 
+     710           0 :   res.message = "hover initiated";
+     711           0 :   res.success = true;
+     712             : 
+     713           0 :   changeState(STOP_MOTION_STATE);
+     714             : 
+     715           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     716             : }
+     717             : 
+     718             : //}
+     719             : 
+     720             : /* //{ startTrajectoryTracking() */
+     721             : 
+     722           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     723           0 :   return std_srvs::TriggerResponse::Ptr();
+     724             : }
+     725             : 
+     726             : //}
+     727             : 
+     728             : /* //{ stopTrajectoryTracking() */
+     729             : 
+     730           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     731           0 :   return std_srvs::TriggerResponse::Ptr();
+     732             : }
+     733             : 
+     734             : //}
+     735             : 
+     736             : /* //{ resumeTrajectoryTracking() */
+     737             : 
+     738           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     739           0 :   return std_srvs::TriggerResponse::Ptr();
+     740             : }
+     741             : 
+     742             : //}
+     743             : 
+     744             : /* //{ gotoTrajectoryStart() */
+     745             : 
+     746           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     747           0 :   return std_srvs::TriggerResponse::Ptr();
+     748             : }
+     749             : 
+     750             : //}
+     751             : 
+     752             : /* //{ setConstraints() */
+     753             : 
+     754         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LandoffTracker::setConstraints([
+     755             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd) {
+     756             : 
+     757             : 
+     758         147 :   mrs_lib::set_mutexed(mutex_constraints_, cmd->constraints, constraints_);
+     759             : 
+     760         147 :   ROS_INFO("[LandoffTracker]: updating constraints");
+     761             : 
+     762         294 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     763         147 :   res.success = true;
+     764         147 :   res.message = "constraints updated";
+     765             : 
+     766         294 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     767             : }
+     768             : 
+     769             : //}
+     770             : 
+     771             : /* //{ setReference() */
+     772             : 
+     773           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr LandoffTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+     774             : 
+     775           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     776             : }
+     777             : 
+     778             : //}
+     779             : 
+     780             : /* //{ setVelocityReference() */
+     781             : 
+     782           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr LandoffTracker::setVelocityReference([
+     783             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+     784           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     785             : }
+     786             : 
+     787             : //}
+     788             : 
+     789             : /* //{ setTrajectoryReference() */
+     790             : 
+     791           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LandoffTracker::setTrajectoryReference([
+     792             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+     793           1 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     794             : }
+     795             : 
+     796             : //}
+     797             : 
+     798             : // | ----------------- state machine routines ----------------- |
+     799             : 
+     800             : /* //{ changeStateHorizontal() */
+     801             : 
+     802          48 : void LandoffTracker::changeStateHorizontal(States_t new_state) {
+     803             : 
+     804          48 :   previous_state_horizontal_ = current_state_horizontal_;
+     805          48 :   current_state_horizontal_  = new_state;
+     806             : 
+     807          48 :   switch (current_state_horizontal_) {
+     808             : 
+     809          15 :     case STOPPING_STATE: {
+     810             : 
+     811          30 :       std::scoped_lock lock(mutex_state_);
+     812          15 :       current_horizontal_speed_ = 0;
+     813             : 
+     814          15 :       break;
+     815             :     };
+     816             : 
+     817          33 :     default: {
+     818             : 
+     819          33 :       break;
+     820             :     }
+     821             :   }
+     822             : 
+     823          48 :   ROS_INFO("[LandoffTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     824          48 : }
+     825             : 
+     826             : //}
+     827             : 
+     828             : /* //{ changeStateVertical() */
+     829             : 
+     830          58 : void LandoffTracker::changeStateVertical(States_t new_state) {
+     831             : 
+     832          58 :   previous_state_vertical_ = current_state_vertical_;
+     833          58 :   current_state_vertical_  = new_state;
+     834             : 
+     835          58 :   switch (current_state_vertical_) {
+     836             : 
+     837          10 :     case HOVER_STATE: {
+     838          10 :       taking_off_ = false;
+     839          10 :       break;
+     840             :     }
+     841             : 
+     842          48 :     default: {
+     843          48 :       break;
+     844             :     }
+     845             :   }
+     846             : 
+     847          58 :   ROS_INFO("[LandoffTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     848          58 : }
+     849             : 
+     850             : //}
+     851             : 
+     852             : /* //{ changeState() */
+     853             : 
+     854          38 : void LandoffTracker::changeState(States_t new_state) {
+     855             : 
+     856          38 :   changeStateVertical(new_state);
+     857          38 :   changeStateHorizontal(new_state);
+     858          38 : }
+     859             : 
+     860             : //}
+     861             : 
+     862             : // | --------------------- motion routines -------------------- |
+     863             : 
+     864             : /* //{ stopHorizontalMotion() */
+     865             : 
+     866         126 : void LandoffTracker::stopHorizontalMotion(void) {
+     867             : 
+     868             :   {
+     869         252 :     std::scoped_lock lock(mutex_state_);
+     870             : 
+     871         126 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     872             : 
+     873         126 :     if (current_horizontal_speed_ < 0) {
+     874           8 :       current_horizontal_speed_        = 0;
+     875           8 :       current_horizontal_acceleration_ = 0;
+     876             :     } else {
+     877         118 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     878             :     }
+     879             :   }
+     880         126 : }
+     881             : 
+     882             : //}
+     883             : 
+     884             : /* //{ stopVerticalMotion() */
+     885             : 
+     886         126 : void LandoffTracker::stopVerticalMotion(void) {
+     887             : 
+     888             :   {
+     889         252 :     std::scoped_lock lock(mutex_state_);
+     890             : 
+     891         126 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     892             : 
+     893         126 :     if (current_vertical_speed_ < 0) {
+     894          91 :       current_vertical_speed_        = 0;
+     895          91 :       current_vertical_acceleration_ = 0;
+     896             :     } else {
+     897          35 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     898             :     }
+     899             :   }
+     900         126 : }
+     901             : 
+     902             : //}
+     903             : 
+     904             : /* //{ accelerateVertical() */
+     905             : 
+     906        5129 : void LandoffTracker::accelerateVertical(void) {
+     907             : 
+     908             :   // copy member variables
+     909        5129 :   auto [current_vertical_speed, state_z] = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_, state_z_);
+     910        5129 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     911        5129 :   auto constraints                       = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     912             : 
+     913             :   double used_acceleration;
+     914             :   double used_speed;
+     915             : 
+     916        5129 :   if (taking_off_) {
+     917             : 
+     918        1120 :     used_speed        = _takeoff_speed_;
+     919        1120 :     used_acceleration = _takeoff_acceleration_;
+     920             : 
+     921        1120 :     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        1120 :     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        4009 :   } else if (landing_) {
+     932             : 
+     933        4009 :     if (elanding_) {
+     934             : 
+     935        2319 :       used_speed        = _elanding_speed_;
+     936        2319 :       used_acceleration = _elanding_acceleration_;
+     937             : 
+     938             :     } else {
+     939             : 
+     940        1690 :       used_speed        = _landing_speed_;
+     941        1690 :       used_acceleration = _landing_acceleration_;
+     942             : 
+     943        1690 :       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        1690 :       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        5129 :   double tar_z = goal_z - state_z;
+     963             : 
+     964             :   // set the right vertical direction
+     965             :   {
+     966        5129 :     std::scoped_lock lock(mutex_state_);
+     967             : 
+     968        5129 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+     969             :   }
+     970             : 
+     971        5129 :   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        5129 :   double vertical_t_stop    = current_vertical_speed / used_acceleration;
+     975        5129 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+     976        5129 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+     977             : 
+     978             :   {
+     979       10258 :     std::scoped_lock lock(mutex_state_);
+     980             : 
+     981        5129 :     current_vertical_speed_ += used_acceleration * _tracker_dt_;
+     982             : 
+     983        5129 :     if (current_vertical_speed_ >= used_speed) {
+     984        1293 :       current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     985        1293 :       current_vertical_acceleration_ = 0;
+     986             :     } else {
+     987        3836 :       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        5129 :   if (!elanding_ && !landing_) {
+     997        1120 :     if (fabs(state_z + stop_dist_z - goal_z) < (2 * (used_speed * _tracker_dt_))) {
+     998             : 
+     999             :       {
+    1000           5 :         std::scoped_lock lock(mutex_state_);
+    1001             : 
+    1002           5 :         current_vertical_acceleration_ = 0;
+    1003             :       }
+    1004             : 
+    1005           5 :       changeStateVertical(DECELERATING_STATE);
+    1006             :     }
+    1007             :   }
+    1008        5129 : }
+    1009             : 
+    1010             : //}
+    1011             : 
+    1012             : /* //{ decelerateVertical() */
+    1013             : 
+    1014        1120 : void LandoffTracker::decelerateVertical(void) {
+    1015             : 
+    1016             :   double used_acceleration;
+    1017             : 
+    1018        1120 :   if (taking_off_) {
+    1019             : 
+    1020        1120 :     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        2240 :     std::scoped_lock lock(mutex_state_);
+    1039             : 
+    1040        1120 :     current_vertical_speed_ -= used_acceleration * _tracker_dt_;
+    1041             : 
+    1042        1120 :     if (current_vertical_speed_ < 0) {
+    1043           5 :       current_vertical_speed_ = 0;
+    1044             :     } else {
+    1045        1115 :       current_vertical_acceleration_ = -used_acceleration;
+    1046             :     }
+    1047             :   }
+    1048             : 
+    1049        1120 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1050             : 
+    1051        1120 :   if (current_vertical_speed == 0) {
+    1052             : 
+    1053             :     {
+    1054           5 :       std::scoped_lock lock(mutex_state_);
+    1055             : 
+    1056           5 :       current_vertical_acceleration_ = 0;
+    1057             :     }
+    1058             : 
+    1059           5 :     changeStateVertical(STOPPING_STATE);
+    1060             :   }
+    1061        1120 : }
+    1062             : 
+    1063             : //}
+    1064             : 
+    1065             : /* //{ stopHorizontal() */
+    1066             : 
+    1067        6249 : void LandoffTracker::stopHorizontal(void) {
+    1068             : 
+    1069             :   {
+    1070        6249 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1071             : 
+    1072        6249 :     double new_state_x = 0.95 * state_x_ + 0.05 * goal_x_;
+    1073        6249 :     double new_state_y = 0.95 * state_y_ + 0.05 * goal_y_;
+    1074             : 
+    1075        6249 :     double dist_x = new_state_x - state_x_;
+    1076        6249 :     double dist_y = new_state_y - state_y_;
+    1077             : 
+    1078        6249 :     double dt = 1.0 / _main_timer_rate_;
+    1079             : 
+    1080        6249 :     if (std::abs(dist_x / dt) > 1.0) {
+    1081           0 :       dist_x = mrs_lib::signum(dist_x) * (1.0 * dt);
+    1082             :     }
+    1083             : 
+    1084        6249 :     if (std::abs(dist_y / dt) > 1.0) {
+    1085           0 :       dist_y = mrs_lib::signum(dist_y) * (1.0 * dt);
+    1086             :     }
+    1087             : 
+    1088        6249 :     state_x_ += dist_x;
+    1089        6249 :     state_y_ += dist_y;
+    1090             : 
+    1091        6249 :     current_horizontal_acceleration_ = 0;
+    1092             :   }
+    1093        6249 : }
+    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        6660 : void LandoffTracker::timerMain(const ros::TimerEvent& event) {
+    1127             : 
+    1128        6660 :   std::scoped_lock lock(mutex_main_timer_);
+    1129             : 
+    1130        6660 :   if (!is_active_) {
+    1131           0 :     return;
+    1132             :   }
+    1133             : 
+    1134             :   // copy member variables
+    1135       13320 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1136        6660 :   auto [state_x, state_y, state_z, current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] = mrs_lib::get_mutexed(
+    1137        6660 :       mutex_state_, state_x_, state_y_, state_z_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+    1138        6660 :   auto [goal_x, goal_y, goal_z] = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1139       13320 :   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        6660 :   uav_x = uav_state.pose.position.x;
+    1143        6660 :   uav_y = uav_state.pose.position.y;
+    1144        6660 :   uav_z = uav_state.pose.position.z;
+    1145             : 
+    1146       19980 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _main_timer_rate_, 0.002, event);
+    1147       19980 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1148             : 
+    1149        6660 :   bool takeoff_saturated = false;
+    1150             : 
+    1151        6660 :   if (taking_off_) {
+    1152             : 
+    1153             :     // calculate the vector
+    1154        2339 :     double err_x      = uav_x - state_x;
+    1155        2339 :     double err_y      = uav_y - state_y;
+    1156        2339 :     double err_z      = uav_z - state_z;
+    1157        2339 :     double error_size = sqrt(pow(err_x, 2) + pow(err_y, 2) + pow(err_z, 2));
+    1158             : 
+    1159        2339 :     if (error_size > _max_position_difference_) {
+    1160             : 
+    1161             :       // calculate the potential next step
+    1162           0 :       double future_state_x = state_x + cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1163           0 :       double future_state_y = state_y + sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1164           0 :       double future_state_z = state_z + current_vertical_direction * current_vertical_speed * _tracker_dt_;
+    1165             : 
+    1166             :       // if the step would lead to a greater control error than the threshold
+    1167           0 :       if (mrs_lib::geometry::dist(vec3_t(future_state_x, future_state_y, future_state_z), vec3_t(uav_x, uav_y, uav_z)) > error_size) {
+    1168             : 
+    1169             :         // set this to true... later, we will not update the model if this is true, thus the tracker's motion will stop
+    1170             :         // => the tracker will wait for the controller
+    1171           0 :         takeoff_saturated = true;
+    1172             : 
+    1173           0 :         ROS_WARN_THROTTLE(
+    1174             :             0.1, "[LandoffTracker]: position difference %.3f > %.3f, saturating the motion. Reference: x=%.2f, y=%.2f, z=%.2f, Odometry: %.2f, %.2f, %.2f",
+    1175             :             error_size, _max_position_difference_, future_state_x, future_state_y, future_state_z, uav_x, uav_y, uav_z);
+    1176             :       }
+    1177             :     }
+    1178             : 
+    1179             :     // saturate while ramping up during takeoff
+    1180        2339 :     if (last_control_output.diagnostics.ramping_up) {
+    1181             : 
+    1182          99 :       ROS_INFO_THROTTLE(1.0, "[LandoffTracker]: waiting for the controller to rampup");
+    1183          99 :       takeoff_saturated = true;
+    1184             :     }
+    1185             :   }
+    1186             : 
+    1187        6660 :   if (!takeoff_saturated) {
+    1188             : 
+    1189        6561 :     switch (current_state_horizontal_) {
+    1190             : 
+    1191         126 :       case STOP_MOTION_STATE: {
+    1192             : 
+    1193         126 :         stopHorizontalMotion();
+    1194         126 :         break;
+    1195             :       }
+    1196             : 
+    1197        6249 :       case STOPPING_STATE: {
+    1198             : 
+    1199        6249 :         stopHorizontal();
+    1200        6249 :         break;
+    1201             :       }
+    1202             : 
+    1203         186 :       default: {
+    1204             : 
+    1205         186 :         break;
+    1206             :       }
+    1207             :     }
+    1208             : 
+    1209        6561 :     switch (current_state_vertical_) {
+    1210             : 
+    1211         126 :       case STOP_MOTION_STATE: {
+    1212             : 
+    1213         126 :         stopVerticalMotion();
+    1214         126 :         break;
+    1215             :       }
+    1216             : 
+    1217        5129 :       case ACCELERATING_STATE: {
+    1218             : 
+    1219        5129 :         accelerateVertical();
+    1220        5129 :         break;
+    1221             :       }
+    1222             : 
+    1223        1120 :       case DECELERATING_STATE: {
+    1224             : 
+    1225        1120 :         decelerateVertical();
+    1226        1120 :         break;
+    1227             :       }
+    1228             : 
+    1229           0 :       case STOPPING_STATE: {
+    1230             : 
+    1231           0 :         stopVertical();
+    1232           0 :         break;
+    1233             :       }
+    1234             : 
+    1235         186 :       default: {
+    1236             : 
+    1237         186 :         break;
+    1238             :       }
+    1239             :     }
+    1240             :   }
+    1241             : 
+    1242        6660 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1243         131 :     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          15 :       if (have_goal_) {
+    1250             : 
+    1251          10 :         changeStateVertical(ACCELERATING_STATE);
+    1252          10 :         changeStateHorizontal(STOPPING_STATE);
+    1253             : 
+    1254             :       } else {
+    1255             : 
+    1256           5 :         changeState(STOPPING_STATE);
+    1257             : 
+    1258             :         {
+    1259           5 :           std::scoped_lock lock(mutex_state_);
+    1260             : 
+    1261           5 :           current_horizontal_speed_ = 0;
+    1262           5 :           current_vertical_speed_   = 0;
+    1263             :         }
+    1264             :       }
+    1265             :     }
+    1266             :   }
+    1267             : 
+    1268        6660 :   if (current_state_vertical_ == STOPPING_STATE && current_state_horizontal_ == STOPPING_STATE) {
+    1269             : 
+    1270          10 :     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          10 :     } 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          10 :         std::scoped_lock lock(mutex_state_);
+    1283             : 
+    1284          10 :         if (!taking_off_) {
+    1285           5 :           state_x_ = goal_x;
+    1286           5 :           state_y_ = goal_y;
+    1287           5 :           state_z_ = goal_z;
+    1288             :         }
+    1289             : 
+    1290          10 :         current_horizontal_speed_ = 0;
+    1291          10 :         current_vertical_speed_   = 0;
+    1292             :       }
+    1293             : 
+    1294          10 :       changeState(HOVER_STATE);
+    1295             : 
+    1296          10 :       have_goal_ = false;
+    1297             :     }
+    1298             :   }
+    1299             : 
+    1300        6660 :   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        6660 :   if (!takeoff_saturated) {
+    1318             :     {
+    1319        6561 :       std::scoped_lock lock(mutex_state_);
+    1320             : 
+    1321        6561 :       state_x_ += cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1322        6561 :       state_y_ += sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1323        6561 :       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       13320 :     std::scoped_lock lock(mutex_state_);
+    1334             : 
+    1335             :     double current_heading_rate;
+    1336             : 
+    1337        6660 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1338           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1339             :     else
+    1340        6660 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1341             : 
+    1342        6660 :     if (current_heading_rate > _heading_rate_) {
+    1343           0 :       current_heading_rate = _heading_rate_;
+    1344        6660 :     } 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        6660 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1350             : 
+    1351        6660 :     if (state_heading_ > M_PI) {
+    1352           0 :       state_heading_ -= 2 * M_PI;
+    1353        6660 :     } else if (state_heading_ < -M_PI) {
+    1354           0 :       state_heading_ += 2 * M_PI;
+    1355             :     }
+    1356             : 
+    1357        6660 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1358        6660 :       state_heading_ = goal_heading_;
+    1359             :     }
+    1360             :   }
+    1361             : 
+    1362             :   // --------------------------------------------------------------
+    1363             :   // |                      landing setpoint                      |
+    1364             :   // --------------------------------------------------------------
+    1365             : 
+    1366        6660 :   if (landing_) {
+    1367             :     {
+    1368        4130 :       std::scoped_lock lock(mutex_goal_);
+    1369             : 
+    1370        4130 :       goal_z_ = uav_z + _landing_reference_;
+    1371             :     }
+    1372             :   }
+    1373             : }
+    1374             : 
+    1375             : //}
+    1376             : 
+    1377             : // | ------------------------ callbacks ----------------------- |
+    1378             : 
+    1379             : /* //{ callbackTakeoff() */
+    1380             : 
+    1381           5 : bool LandoffTracker::callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    1382             : 
+    1383          10 :   std::stringstream ss;
+    1384             : 
+    1385             :   // copy member variables
+    1386          10 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1387             : 
+    1388           5 :   double uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1389             : 
+    1390             :   double uav_x, uav_y, uav_z;
+    1391           5 :   uav_x = uav_state.pose.position.x;
+    1392           5 :   uav_y = uav_state.pose.position.y;
+    1393           5 :   uav_z = uav_state.pose.position.z;
+    1394             : 
+    1395           5 :   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           5 :   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           5 :   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          10 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+    1422             : 
+    1423           5 :     state_x_ = uav_x;
+    1424           5 :     goal_x_  = uav_x;
+    1425             : 
+    1426           5 :     state_y_ = uav_y;
+    1427           5 :     goal_y_  = uav_y;
+    1428             : 
+    1429           5 :     state_z_ = uav_z;
+    1430           5 :     goal_z_  = uav_z + req.goal;
+    1431             : 
+    1432           5 :     state_heading_ = uav_heading;
+    1433           5 :     goal_heading_  = uav_heading;
+    1434             : 
+    1435           5 :     speed_x_                = 0;
+    1436           5 :     speed_y_                = 0;
+    1437           5 :     current_vertical_speed_ = 0;
+    1438             : 
+    1439           5 :     have_goal_ = true;
+    1440             :   }
+    1441             : 
+    1442           5 :   ROS_INFO("[LandoffTracker]: taking off");
+    1443             : 
+    1444           5 :   taking_off_ = true;
+    1445           5 :   landing_    = false;
+    1446           5 :   elanding_   = false;
+    1447             : 
+    1448           5 :   res.success = true;
+    1449           5 :   res.message = "taking off";
+    1450             : 
+    1451           5 :   changeState(STOP_MOTION_STATE);
+    1452             : 
+    1453           5 :   return true;
+    1454             : }
+    1455             : 
+    1456             : //}
+    1457             : 
+    1458             : /* //{ callbackLand() */
+    1459             : 
+    1460           2 : bool LandoffTracker::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1461             : 
+    1462           4 :   std::scoped_lock lock(mutex_main_timer_);
+    1463             : 
+    1464           4 :   std::stringstream ss;
+    1465             : 
+    1466             :   // copy member variables
+    1467           4 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1468             : 
+    1469           2 :   if (!is_active_) {
+    1470           0 :     ss << "can not land, the tracker is not active";
+    1471           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1472           0 :     res.success = false;
+    1473           0 :     res.message = ss.str();
+    1474           0 :     return true;
+    1475             :   }
+    1476             : 
+    1477             :   {
+    1478           2 :     std::scoped_lock lock(mutex_goal_);
+    1479             : 
+    1480           2 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1481             :   }
+    1482             : 
+    1483           2 :   ROS_INFO("[LandoffTracker]: landing");
+    1484             : 
+    1485           2 :   landing_    = true;
+    1486           2 :   elanding_   = false;
+    1487           2 :   taking_off_ = false;
+    1488           2 :   have_goal_  = true;
+    1489             : 
+    1490           2 :   res.success = true;
+    1491           2 :   res.message = "landing";
+    1492             : 
+    1493           2 :   changeState(STOP_MOTION_STATE);
+    1494             : 
+    1495           2 :   return true;
+    1496             : }
+    1497             : 
+    1498             : //}
+    1499             : 
+    1500             : /* //{ callbackELand() */
+    1501             : 
+    1502           3 : bool LandoffTracker::callbackELand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1503             : 
+    1504           6 :   std::scoped_lock lock(mutex_main_timer_);
+    1505             : 
+    1506           6 :   std::stringstream ss;
+    1507             : 
+    1508             :   // copy member variables
+    1509           6 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1510             : 
+    1511           3 :   if (!is_active_) {
+    1512             : 
+    1513           0 :     ss << "can not eland, the tracker is not active";
+    1514           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1515           0 :     res.success = false;
+    1516           0 :     res.message = ss.str();
+    1517           0 :     taking_off_ = false;
+    1518           0 :     landing_    = false;
+    1519           0 :     elanding_   = false;
+    1520           0 :     changeState(LANDED_STATE);
+    1521           0 :     return true;
+    1522             :   }
+    1523             : 
+    1524             :   {
+    1525           3 :     std::scoped_lock lock(mutex_goal_);
+    1526             : 
+    1527           3 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1528             :   }
+    1529             : 
+    1530           3 :   ROS_WARN("[LandoffTracker]: emergency landing");
+    1531             : 
+    1532           3 :   landing_    = true;
+    1533           3 :   elanding_   = true;
+    1534           3 :   taking_off_ = false;
+    1535           3 :   have_goal_  = true;
+    1536             : 
+    1537           3 :   res.success = true;
+    1538           3 :   res.message = "elanding";
+    1539             : 
+    1540           3 :   changeState(STOP_MOTION_STATE);
+    1541             : 
+    1542           3 :   return true;
+    1543             : }
+    1544             : 
+    1545             : //}
+    1546             : 
+    1547             : }  // namespace landoff_tracker
+    1548             : 
+    1549             : }  // namespace mrs_uav_trackers
+    1550             : 
+    1551             : #include <pluginlib/class_list_macros.h>
+    1552          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::landoff_tracker::LandoffTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.overview.html b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.overview.html new file mode 100644 index 0000000000..a184a445d4 --- /dev/null +++ b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.overview.html @@ -0,0 +1,408 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Test:MRS UAV System - Test coverage reportLines:32347468.1 %
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Test:MRS UAV System - Test coverage reportLines:32347468.1 %
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Test:MRS UAV System - Test coverage reportLines:32347468.1 %
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Test:MRS UAV System - Test coverage reportLines:32347468.1 %
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Test:MRS UAV System - Test coverage reportLines:32347468.1 %
Date:2023-12-06 10:06:33Functions:193063.3 %
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32347468.1 %
Date:2023-12-06 10:06:33Functions:193063.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::line_tracker::LineTracker::deactivate()0
mrs_uav_trackers::line_tracker::LineTracker::resetStatic()0
mrs_uav_trackers::line_tracker::LineTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::line_tracker::LineTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_trackers::line_tracker::LineTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)1
mrs_uav_trackers::line_tracker::LineTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::line_tracker::LineTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)1
mrs_uav_trackers::line_tracker::LineTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)3
mrs_uav_trackers::line_tracker::LineTracker::changeState(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()25
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()25
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontal()48
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::decelerateHorizontal()100
mrs_uav_trackers::line_tracker::LineTracker::getStatus()208
mrs_uav_trackers::line_tracker::LineTracker::accelerateVertical()352
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()1494
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1798
mrs_uav_trackers::line_tracker::LineTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)2193
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2617
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32347468.1 %
Date:2023-12-06 10:06:33Functions:193063.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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()1494
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()48
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()352
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()25
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1798
mrs_uav_trackers::line_tracker::LineTracker::decelerateHorizontal()100
mrs_uav_trackers::line_tracker::LineTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()25
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&)2193
mrs_uav_trackers::line_tracker::LineTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)1
mrs_uav_trackers::line_tracker::LineTracker::getStatus()208
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2617
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32347468.1 %
Date:2023-12-06 10:06:33Functions: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        2193 : 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        6579 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     519        6579 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LineTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     520             : 
+     521             :   {
+     522        2193 :     std::scoped_lock lock(mutex_uav_state_);
+     523             : 
+     524        2193 :     uav_state_ = uav_state;
+     525        2193 :     uav_x_     = uav_state_.pose.position.x;
+     526        2193 :     uav_y_     = uav_state_.pose.position.y;
+     527        2193 :     uav_z_     = uav_state_.pose.position.z;
+     528             : 
+     529        2193 :     got_uav_state_ = true;
+     530             :   }
+     531             : 
+     532             :   // up to this part the update() method is evaluated even when the tracker is not active
+     533        2193 :   if (!is_active_) {
+     534         129 :     return {};
+     535             :   }
+     536             : 
+     537        4128 :   mrs_msgs::TrackerCommand tracker_cmd;
+     538             : 
+     539        2064 :   tracker_cmd.header.stamp    = ros::Time::now();
+     540        2064 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     541             : 
+     542             :   {
+     543        2064 :     std::scoped_lock lock(mutex_state_);
+     544             : 
+     545        2064 :     tracker_cmd.position.x = state_x_;
+     546        2064 :     tracker_cmd.position.y = state_y_;
+     547        2064 :     tracker_cmd.position.z = state_z_;
+     548        2064 :     tracker_cmd.heading    = radians::wrap(state_heading_);
+     549             : 
+     550        2064 :     tracker_cmd.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     551        2064 :     tracker_cmd.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     552        2064 :     tracker_cmd.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     553        2064 :     tracker_cmd.heading_rate = speed_heading_;
+     554             : 
+     555        2064 :     tracker_cmd.acceleration.x = 0;
+     556        2064 :     tracker_cmd.acceleration.y = 0;
+     557        2064 :     tracker_cmd.acceleration.z = current_vertical_direction_ * current_vertical_acceleration_;
+     558             : 
+     559        2064 :     tracker_cmd.use_position_vertical   = 1;
+     560        2064 :     tracker_cmd.use_position_horizontal = 1;
+     561        2064 :     tracker_cmd.use_heading             = 1;
+     562        2064 :     tracker_cmd.use_heading_rate        = 1;
+     563        2064 :     tracker_cmd.use_velocity_vertical   = 1;
+     564        2064 :     tracker_cmd.use_velocity_horizontal = 1;
+     565        2064 :     tracker_cmd.use_acceleration        = 1;
+     566             :   }
+     567             : 
+     568        2064 :   return {tracker_cmd};
+     569             : }
+     570             : 
+     571             : //}
+     572             : 
+     573             : /* //{ getStatus() */
+     574             : 
+     575         208 : const mrs_msgs::TrackerStatus LineTracker::getStatus() {
+     576             : 
+     577         208 :   mrs_msgs::TrackerStatus tracker_status;
+     578             : 
+     579         208 :   tracker_status.active            = is_active_;
+     580         208 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     581             : 
+     582         208 :   bool idling = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     583             : 
+     584         208 :   tracker_status.have_goal = !idling;
+     585             : 
+     586         208 :   tracker_status.tracking_trajectory = false;
+     587             : 
+     588         208 :   return tracker_status;
+     589             : }
+     590             : 
+     591             : //}
+     592             : 
+     593             : /* //{ enableCallbacks() */
+     594             : 
+     595           0 : const std_srvs::SetBoolResponse::ConstPtr LineTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     596             : 
+     597           0 :   std_srvs::SetBoolResponse res;
+     598           0 :   std::stringstream         ss;
+     599             : 
+     600           0 :   if (cmd->data != callbacks_enabled_) {
+     601             : 
+     602           0 :     callbacks_enabled_ = cmd->data;
+     603             : 
+     604           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     605           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LineTracker]: " << ss.str());
+     606             : 
+     607             :   } else {
+     608             : 
+     609           0 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     610           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LineTracker]: " << ss.str());
+     611             :   }
+     612             : 
+     613           0 :   res.message = ss.str();
+     614           0 :   res.success = true;
+     615             : 
+     616           0 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     617             : }
+     618             : 
+     619             : //}
+     620             : 
+     621             : /* switchOdometrySource() //{ */
+     622             : 
+     623           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     624             : 
+     625           0 :   std::scoped_lock lock(mutex_goal_, mutex_state_);
+     626             : 
+     627           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     628             : 
+     629           0 :   double old_heading  = 0;
+     630           0 :   double new_heading  = 0;
+     631           0 :   bool   got_headings = true;
+     632             : 
+     633             :   try {
+     634           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     635             :   }
+     636           0 :   catch (...) {
+     637           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+     638           0 :     got_headings = false;
+     639             :   }
+     640             : 
+     641             :   try {
+     642           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+     643             :   }
+     644           0 :   catch (...) {
+     645           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+     646           0 :     got_headings = false;
+     647             :   }
+     648             : 
+     649           0 :   std_srvs::TriggerResponse res;
+     650             : 
+     651           0 :   if (!got_headings) {
+     652           0 :     res.message = "could not calculate the heading difference";
+     653           0 :     res.success = false;
+     654             : 
+     655           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     656             :   }
+     657             : 
+     658             :   // | --------- recalculate the goal to new coordinates -------- |
+     659             : 
+     660           0 :   double dx       = new_uav_state.pose.position.x - uav_state.pose.position.x;
+     661           0 :   double dy       = new_uav_state.pose.position.y - uav_state.pose.position.y;
+     662           0 :   double dz       = new_uav_state.pose.position.z - uav_state.pose.position.z;
+     663           0 :   double dheading = new_heading - old_heading;
+     664             : 
+     665           0 :   goal_x_ += dx;
+     666           0 :   goal_y_ += dy;
+     667           0 :   goal_z_ += dz;
+     668           0 :   goal_heading_ += dheading;
+     669             : 
+     670             :   // | -------------------- update the state -------------------- |
+     671             : 
+     672           0 :   state_x_ += dx;
+     673           0 :   state_y_ += dy;
+     674           0 :   state_z_ += dz;
+     675           0 :   state_heading_ += dheading;
+     676             : 
+     677           0 :   current_heading_ = atan2(goal_y_ - state_y_, goal_x_ - state_x_);
+     678             : 
+     679           0 :   res.message = "odometry source switched";
+     680           0 :   res.success = true;
+     681             : 
+     682           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     683             : }
+     684             : 
+     685             : //}
+     686             : 
+     687             : /* //{ hover() */
+     688             : 
+     689           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     690             : 
+     691           0 :   std_srvs::TriggerResponse res;
+     692             : 
+     693             :   // --------------------------------------------------------------
+     694             :   // |          horizontal initial conditions prediction          |
+     695             :   // --------------------------------------------------------------
+     696             :   {
+     697           0 :     std::scoped_lock lock(mutex_state_, mutex_uav_state_);
+     698             : 
+     699           0 :     current_horizontal_speed_ = sqrt(pow(uav_state_.velocity.linear.x, 2) + pow(uav_state_.velocity.linear.y, 2));
+     700           0 :     current_vertical_speed_   = uav_state_.velocity.linear.z;
+     701           0 :     current_heading_          = atan2(uav_state_.velocity.linear.y, uav_state_.velocity.linear.x);
+     702             :   }
+     703             : 
+     704             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     705             : 
+     706             :   {
+     707           0 :     std::scoped_lock lock(mutex_state_);
+     708             : 
+     709           0 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     710           0 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     711           0 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     712           0 :     stop_dist_y          = sin(current_heading_) * horizontal_stop_dist;
+     713             :   }
+     714             : 
+     715             :   // --------------------------------------------------------------
+     716             :   // |           vertical initial conditions prediction           |
+     717             :   // --------------------------------------------------------------
+     718             : 
+     719             :   double vertical_t_stop, vertical_stop_dist;
+     720             : 
+     721             :   {
+     722           0 :     std::scoped_lock lock(mutex_state_);
+     723             : 
+     724           0 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     725           0 :     vertical_stop_dist = current_vertical_direction_ * (vertical_t_stop * current_vertical_speed_) / 2.0;
+     726             :   }
+     727             : 
+     728             :   // --------------------------------------------------------------
+     729             :   // |                        set the goal                        |
+     730             :   // --------------------------------------------------------------
+     731             : 
+     732             :   {
+     733           0 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     734             : 
+     735           0 :     goal_x_ = state_x_ + stop_dist_x;
+     736           0 :     goal_y_ = state_y_ + stop_dist_y;
+     737           0 :     goal_z_ = state_z_ + vertical_stop_dist;
+     738             :   }
+     739             : 
+     740           0 :   res.message = "hover initiated";
+     741           0 :   res.success = true;
+     742             : 
+     743           0 :   changeState(STOP_MOTION_STATE);
+     744             : 
+     745           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     746             : }
+     747             : 
+     748             : //}
+     749             : 
+     750             : /* //{ startTrajectoryTracking() */
+     751             : 
+     752           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     753           0 :   return std_srvs::TriggerResponse::Ptr();
+     754             : }
+     755             : 
+     756             : //}
+     757             : 
+     758             : /* //{ stopTrajectoryTracking() */
+     759             : 
+     760           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     761           0 :   return std_srvs::TriggerResponse::Ptr();
+     762             : }
+     763             : 
+     764             : //}
+     765             : 
+     766             : /* //{ resumeTrajectoryTracking() */
+     767             : 
+     768           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     769           0 :   return std_srvs::TriggerResponse::Ptr();
+     770             : }
+     771             : 
+     772             : //}
+     773             : 
+     774             : /* //{ gotoTrajectoryStart() */
+     775             : 
+     776           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     777           0 :   return std_srvs::TriggerResponse::Ptr();
+     778             : }
+     779             : 
+     780             : //}
+     781             : 
+     782             : /* //{ setConstraints() */
+     783             : 
+     784           3 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LineTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     785             : 
+     786           6 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     787             : 
+     788             :   // this is the place to copy the constraints
+     789             :   {
+     790           3 :     std::scoped_lock lock(mutex_constraints_);
+     791             : 
+     792           3 :     _horizontal_speed_        = cmd->constraints.horizontal_speed;
+     793           3 :     _horizontal_acceleration_ = cmd->constraints.horizontal_acceleration;
+     794             : 
+     795           3 :     _vertical_speed_        = cmd->constraints.vertical_ascending_speed;
+     796           3 :     _vertical_acceleration_ = cmd->constraints.vertical_ascending_acceleration;
+     797             : 
+     798           3 :     _heading_rate_ = cmd->constraints.heading_speed;
+     799             :   }
+     800             : 
+     801           3 :   res.success = true;
+     802           3 :   res.message = "constraints updated";
+     803             : 
+     804           6 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     805             : }
+     806             : 
+     807             : //}
+     808             : 
+     809             : /* //{ setReference() */
+     810             : 
+     811           1 : const mrs_msgs::ReferenceSrvResponse::ConstPtr LineTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     812             : 
+     813           2 :   mrs_msgs::ReferenceSrvResponse res;
+     814             : 
+     815           1 :   auto state_heading = mrs_lib::get_mutexed(mutex_state_, state_heading_);
+     816             : 
+     817             :   {
+     818           1 :     std::scoped_lock lock(mutex_goal_);
+     819             : 
+     820           1 :     goal_x_       = cmd->reference.position.x;
+     821           1 :     goal_y_       = cmd->reference.position.y;
+     822           1 :     goal_z_       = cmd->reference.position.z;
+     823           1 :     goal_heading_ = radians::unwrap(cmd->reference.heading, state_heading);
+     824             : 
+     825           1 :     ROS_INFO("[LineTracker]: received new setpoint %.2f, %.2f, %.2f, %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     826             : 
+     827           1 :     have_goal_ = true;
+     828             :   }
+     829             : 
+     830           1 :   changeState(STOP_MOTION_STATE);
+     831             : 
+     832           1 :   res.success = true;
+     833           1 :   res.message = "reference set";
+     834             : 
+     835           2 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+     836             : }
+     837             : 
+     838             : //}
+     839             : 
+     840             : /* //{ setVelocityReference() */
+     841             : 
+     842           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr LineTracker::setVelocityReference([
+     843             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     844           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     845             : }
+     846             : 
+     847             : //}
+     848             : 
+     849             : /* //{ setTrajectoryReference() */
+     850             : 
+     851           0 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LineTracker::setTrajectoryReference([
+     852             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     853           0 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     854             : }
+     855             : 
+     856             : //}
+     857             : 
+     858             : // | ----------------- state machine routines ----------------- |
+     859             : 
+     860             : /* //{ changeStateHorizontal() */
+     861             : 
+     862           8 : void LineTracker::changeStateHorizontal(States_t new_state) {
+     863             : 
+     864           8 :   previous_state_horizontal_ = current_state_horizontal_;
+     865           8 :   current_state_horizontal_  = new_state;
+     866             : 
+     867             :   // just for ROS_INFO
+     868           8 :   ROS_DEBUG("[LineTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     869           8 : }
+     870             : 
+     871             : //}
+     872             : 
+     873             : /* //{ changeStateVertical() */
+     874             : 
+     875           8 : void LineTracker::changeStateVertical(States_t new_state) {
+     876             : 
+     877           8 :   previous_state_vertical_ = current_state_vertical_;
+     878           8 :   current_state_vertical_  = new_state;
+     879             : 
+     880             :   // just for ROS_INFO
+     881           8 :   ROS_DEBUG("[LineTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     882           8 : }
+     883             : 
+     884             : //}
+     885             : 
+     886             : /* //{ changeState() */
+     887             : 
+     888           6 : void LineTracker::changeState(States_t new_state) {
+     889             : 
+     890           6 :   changeStateVertical(new_state);
+     891           6 :   changeStateHorizontal(new_state);
+     892           6 : }
+     893             : 
+     894             : //}
+     895             : 
+     896             : // | --------------------- motion routines -------------------- |
+     897             : 
+     898             : /* //{ stopHorizontalMotion() */
+     899             : 
+     900          25 : void LineTracker::stopHorizontalMotion(void) {
+     901             : 
+     902             :   {
+     903          50 :     std::scoped_lock lock(mutex_state_);
+     904             : 
+     905          25 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     906             : 
+     907          25 :     if (current_horizontal_speed_ < 0) {
+     908          25 :       current_horizontal_speed_        = 0;
+     909          25 :       current_horizontal_acceleration_ = 0;
+     910             :     } else {
+     911           0 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     912             :     }
+     913             :   }
+     914          25 : }
+     915             : 
+     916             : //}
+     917             : 
+     918             : /* //{ stopVerticalMotion() */
+     919             : 
+     920          25 : void LineTracker::stopVerticalMotion(void) {
+     921             : 
+     922             :   {
+     923          50 :     std::scoped_lock lock(mutex_state_);
+     924             : 
+     925          25 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     926             : 
+     927          25 :     if (current_vertical_speed_ < 0) {
+     928           2 :       current_vertical_speed_        = 0;
+     929           2 :       current_vertical_acceleration_ = 0;
+     930             :     } else {
+     931          23 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     932             :     }
+     933             :   }
+     934          25 : }
+     935             : 
+     936             : //}
+     937             : 
+     938             : /* //{ accelerateHorizontal() */
+     939             : 
+     940        1798 : void LineTracker::accelerateHorizontal(void) {
+     941             : 
+     942             :   // copy member variables
+     943        1798 :   auto [goal_x, goal_y]                             = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_);
+     944        1798 :   auto [state_x, state_y, current_horizontal_speed] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, current_horizontal_speed_);
+     945             : 
+     946             :   {
+     947        1798 :     std::scoped_lock lock(mutex_state_);
+     948             : 
+     949        1798 :     current_heading_ = atan2(goal_y - state_y, goal_x - state_x);
+     950             :   }
+     951             : 
+     952        1798 :   auto current_heading = mrs_lib::get_mutexed(mutex_state_, current_heading_);
+     953             : 
+     954             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     955             : 
+     956        1798 :   horizontal_t_stop    = current_horizontal_speed / _horizontal_acceleration_;
+     957        1798 :   horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed) / 2.0;
+     958        1798 :   stop_dist_x          = cos(current_heading) * horizontal_stop_dist;
+     959        1798 :   stop_dist_y          = sin(current_heading) * horizontal_stop_dist;
+     960             : 
+     961             :   {
+     962        3596 :     std::scoped_lock lock(mutex_state_);
+     963             : 
+     964        1798 :     current_horizontal_speed_ += _horizontal_acceleration_ * _tracker_dt_;
+     965             : 
+     966        1798 :     if (current_horizontal_speed_ >= _horizontal_speed_) {
+     967        1699 :       current_horizontal_speed_        = _horizontal_speed_;
+     968        1699 :       current_horizontal_acceleration_ = 0;
+     969             :     } else {
+     970          99 :       current_horizontal_acceleration_ = _horizontal_acceleration_;
+     971             :     }
+     972             :   }
+     973             : 
+     974        1798 :   if (sqrt(pow(state_x + stop_dist_x - goal_x, 2) + pow(state_y + stop_dist_y - goal_y, 2)) < (2 * (_horizontal_speed_ * _tracker_dt_))) {
+     975             : 
+     976             :     {
+     977           1 :       std::scoped_lock lock(mutex_state_);
+     978             : 
+     979           1 :       current_horizontal_acceleration_ = 0;
+     980             :     }
+     981             : 
+     982           1 :     changeStateHorizontal(DECELERATING_STATE);
+     983             :   }
+     984        1798 : }
+     985             : 
+     986             : //}
+     987             : 
+     988             : /* //{ accelerateVertical() */
+     989             : 
+     990         352 : void LineTracker::accelerateVertical(void) {
+     991             : 
+     992         352 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     993         352 :   auto [state_z, current_vertical_speed] = mrs_lib::get_mutexed(mutex_state_, state_z_, current_vertical_speed_);
+     994             : 
+     995             :   // set the right heading
+     996         352 :   double tar_z = goal_z - state_z;
+     997             : 
+     998             :   // set the right vertical direction
+     999             :   {
+    1000         352 :     std::scoped_lock lock(mutex_state_);
+    1001             : 
+    1002         352 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+    1003             :   }
+    1004             : 
+    1005         352 :   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         352 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+    1009         352 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+    1010         352 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+    1011             : 
+    1012             :   {
+    1013         704 :     std::scoped_lock lock(mutex_state_);
+    1014             : 
+    1015         352 :     current_vertical_speed_ += _vertical_acceleration_ * _tracker_dt_;
+    1016             : 
+    1017         352 :     if (current_vertical_speed_ >= _vertical_speed_) {
+    1018         253 :       current_vertical_speed_        = _vertical_speed_;
+    1019         253 :       current_vertical_acceleration_ = 0;
+    1020             :     } else {
+    1021          99 :       current_vertical_acceleration_ = _vertical_acceleration_;
+    1022             :     }
+    1023             :   }
+    1024             : 
+    1025         352 :   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         352 : }
+    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          48 : void LineTracker::stopHorizontal(void) {
+    1100             : 
+    1101             :   {
+    1102          48 :     std::scoped_lock lock(mutex_state_);
+    1103             : 
+    1104          48 :     state_x_                         = 0.95 * state_x_ + 0.05 * goal_x_;
+    1105          48 :     state_y_                         = 0.95 * state_y_ + 0.05 * goal_y_;
+    1106          48 :     current_horizontal_acceleration_ = 0;
+    1107             :   }
+    1108          48 : }
+    1109             : 
+    1110             : //}
+    1111             : 
+    1112             : /* //{ stopVertical() */
+    1113             : 
+    1114        1494 : void LineTracker::stopVertical(void) {
+    1115             : 
+    1116             :   {
+    1117        1494 :     std::scoped_lock lock(mutex_state_);
+    1118             : 
+    1119        1494 :     state_z_                       = 0.95 * state_z_ + 0.05 * goal_z_;
+    1120        1494 :     current_vertical_acceleration_ = 0;
+    1121             :   }
+    1122        1494 : }
+    1123             : 
+    1124             : //}
+    1125             : 
+    1126             : // | ------------------------- timers ------------------------- |
+    1127             : 
+    1128             : /* //{ mainTimer() */
+    1129             : 
+    1130        2617 : void LineTracker::mainTimer(const ros::TimerEvent &event) {
+    1131             : 
+    1132        2617 :   if (!is_active_) {
+    1133         536 :     return;
+    1134             :   }
+    1135             : 
+    1136        6243 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _tracker_loop_rate_, 0.01, event);
+    1137        6243 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("LineTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1138             : 
+    1139        2081 :   auto [goal_x, goal_y, goal_z]    = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1140        2081 :   auto [state_x, state_y, state_z] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, state_z_);
+    1141             : 
+    1142        2081 :   switch (current_state_horizontal_) {
+    1143             : 
+    1144         110 :     case IDLE_STATE:
+    1145             : 
+    1146         110 :       break;
+    1147             : 
+    1148          25 :     case STOP_MOTION_STATE:
+    1149             : 
+    1150          25 :       stopHorizontalMotion();
+    1151             : 
+    1152          25 :       break;
+    1153             : 
+    1154        1798 :     case ACCELERATING_STATE:
+    1155             : 
+    1156        1798 :       accelerateHorizontal();
+    1157             : 
+    1158        1798 :       break;
+    1159             : 
+    1160         100 :     case DECELERATING_STATE:
+    1161             : 
+    1162         100 :       decelerateHorizontal();
+    1163             : 
+    1164         100 :       break;
+    1165             : 
+    1166          48 :     case STOPPING_STATE:
+    1167             : 
+    1168          48 :       stopHorizontal();
+    1169             : 
+    1170          48 :       break;
+    1171             :   }
+    1172             : 
+    1173        2081 :   switch (current_state_vertical_) {
+    1174             : 
+    1175         110 :     case IDLE_STATE:
+    1176             : 
+    1177         110 :       break;
+    1178             : 
+    1179          25 :     case STOP_MOTION_STATE:
+    1180             : 
+    1181          25 :       stopVerticalMotion();
+    1182             : 
+    1183          25 :       break;
+    1184             : 
+    1185         352 :     case ACCELERATING_STATE:
+    1186             : 
+    1187         352 :       accelerateVertical();
+    1188             : 
+    1189         352 :       break;
+    1190             : 
+    1191         100 :     case DECELERATING_STATE:
+    1192             : 
+    1193         100 :       decelerateVertical();
+    1194             : 
+    1195         100 :       break;
+    1196             : 
+    1197        1494 :     case STOPPING_STATE:
+    1198             : 
+    1199        1494 :       stopVertical();
+    1200             : 
+    1201        1494 :       break;
+    1202             :   }
+    1203             : 
+    1204        2081 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1205          25 :     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        2081 :   if (current_state_horizontal_ == STOPPING_STATE && current_state_vertical_ == STOPPING_STATE) {
+    1215          50 :     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        2081 :     std::scoped_lock lock(mutex_state_);
+    1233             : 
+    1234        2081 :     state_x_ += cos(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1235        2081 :     state_y_ += sin(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1236        2081 :     state_z_ += current_vertical_direction_ * current_vertical_speed_ * _tracker_dt_;
+    1237             :   }
+    1238             : 
+    1239             :   // --------------------------------------------------------------
+    1240             :   // |                        heading tracking                        |
+    1241             :   // --------------------------------------------------------------
+    1242             : 
+    1243             :   {
+    1244        4162 :     std::scoped_lock lock(mutex_state_);
+    1245             : 
+    1246             :     // compute the desired heading rate
+    1247             :     double current_heading_rate;
+    1248        2081 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1249           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1250             :     else
+    1251        2081 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1252             : 
+    1253        2081 :     if (current_heading_rate > _heading_rate_) {
+    1254         120 :       current_heading_rate = _heading_rate_;
+    1255        1961 :     } 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        2081 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1261             : 
+    1262        2081 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1263        1572 :       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..4b5ba87fa1f1ac4a2c3f41a0b8736549da563101 GIT binary patch literal 3773 zcmV;u4npyXP)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+LqRDVJBLbB+!%>9qAVr1DIbC=;oB7sp zCiBrZ>ph4jNG`=aBj-+UE1^Jj9lyb@?R}dz#$D01mwhsE3+4^m(#x0A*R6K~N;e$S zn<~&_goPW9_jfJ{xYrj@gvix2xEiQ#o^MdIvvWIyT;T13flSE7h}9wFVky$f%w2|$ z3=LmM-Hu=OK^pE?hMH+BIV<%nM=A7Os1-)rj_e{kw?3nFq?d~TzBFn!H#MLS!vSZ( z13Pc8hbd$}z|@`piAil1auzr4ioz7J9%BRFw~PwpG7SXm8GMAifs}a-KKavqqs=i6 z=0>o=9u~oOXh6O=#K5b2zJl};dpE-dh?zC7&Qz`W~`Nz*rrPwkz9j~`utklf=n))mwR`$y3|7W+rh zJqGha@g7#zQ}DoF>M5EXISKP2by9!aQ^1e*NwR%Zm`|_d0@DilTh*-HF@)g6L8a8+ zq-MPG~{hp^5l#CJ$drQ z!6i(G-!l&)x;6GYcU8UlK3roLR)}kkO4RzE*+oc6pqk>Gq?St&rjXlEWNwvjKv4(O zQcSt|e2RZkf4|hND9&k-3n*%UJs)xq^Ll@7FU?wG3Ev}idk63*btOd|P)o6&+e;l| z&7-IRc5r*r=CB2AGGNw*5n%sdwRb<*XJe&Dg*zz{P?auZD9S)pOWySJ=AQe_P|uK* zF6xTYJMDDm9v_n6bCkV%(Y~h!t6x(aiCTyv|WhRFy zR1uV#;;Esn6V)Z9@Oi)hI zq9M-ZQNp`7@Ch+@Hq5^8SIZu!_f;pvX6Pv_Yo}(eE_v4*Eg{Kp6y;g-K75r-20!PF zZ=Ue1T*d)9eeq|OT~3}$%lq4()=+xVJOvF7y3V}>o4#mAOB7rC@b + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker + + + + + + + + + + + + + + +
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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:2023-12-06 10:06:33Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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midair_activation_tracker.cpp +
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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:2023-12-06 10:06:33Functions:91850.0 %
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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:2023-12-06 10:06:33Functions:91850.0 %
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midair_activation_tracker.cpp +
72.8%72.8%
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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:2023-12-06 10:06:33Functions:91850.0 %
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midair_activation_tracker.cpp +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
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Generated by: LCOV version 1.14
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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:2023-12-06 10:06:33Functions:91850.0 %
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midair_activation_tracker.cpp +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
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+
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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:2023-12-06 10:06:33Functions: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..b741a700ee --- /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 + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2023-12-06 10:06:33Functions: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&)1
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()17
(anonymous namespace)::ProxyExec0::ProxyExec0()47
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>)47
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)84
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()90
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
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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..a4c1a5a2d9 --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2023-12-06 10:06:33Functions: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()47
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()90
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>)47
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resetStatic()0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)84
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()17
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Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2023-12-06 10:06:33Functions: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          47 : 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          47 :   this->common_handlers_  = common_handlers;
+      81          47 :   this->private_handlers_ = private_handlers;
+      82             : 
+      83          47 :   _uav_name_ = common_handlers->uav_name;
+      84             : 
+      85          47 :   nh_ = nh;
+      86             : 
+      87          47 :   ros::Time::waitForValid();
+      88             : 
+      89             :   // --------------------------------------------------------------
+      90             :   // |                     loading parameters                     |
+      91             :   // --------------------------------------------------------------
+      92             : 
+      93             :   // | ---------- loading params using the parent's nh ---------- |
+      94             : 
+      95          94 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+      96             : 
+      97          47 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+      98             : 
+      99          47 :   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          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/midair_activation_tracker.yaml");
+     107          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/midair_activation_tracker.yaml");
+     108             : 
+     109          94 :   const std::string yaml_prefix = "mrs_uav_trackers/midair_activation_tracker/";
+     110             : 
+     111          47 :   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          47 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationTracker", _profiler_enabled_);
+     119             : 
+     120             :   // | --------------------- finish the init -------------------- |
+     121             : 
+     122          47 :   is_initialized_ = true;
+     123             : 
+     124          47 :   ROS_INFO("[MidairActivationTracker]: initialized");
+     125             : 
+     126          47 :   return true;
+     127             : }
+     128             : 
+     129             : //}
+     130             : 
+     131             : /* //{ activate() */
+     132             : 
+     133          84 : std::tuple<bool, std::string> MidairActivationTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     134             : 
+     135          84 :   std::stringstream ss;
+     136             : 
+     137          84 :   is_active_ = true;
+     138             : 
+     139          84 :   ss << "activated";
+     140          84 :   ROS_INFO_STREAM("[MidairActivationTracker]: " << ss.str());
+     141             : 
+     142         168 :   return std::tuple(true, ss.str());
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* //{ deactivate() */
+     148             : 
+     149          90 : void MidairActivationTracker::deactivate(void) {
+     150             : 
+     151          90 :   is_active_ = false;
+     152             : 
+     153          90 :   ROS_INFO("[MidairActivationTracker]: deactivated");
+     154          90 : }
+     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       38166 : 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       38166 :   if (!is_active_) {
+     174       37910 :     return {};
+     175             :   }
+     176             : 
+     177         768 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     178             :   mrs_lib::ScopeTimer timer =
+     179         768 :       mrs_lib::ScopeTimer("MidairActivationTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     180             : 
+     181         512 :   mrs_msgs::TrackerCommand tracker_cmd;
+     182             : 
+     183         256 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     184         256 :   tracker_cmd.header.stamp    = ros::Time::now();
+     185             : 
+     186         256 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     187         256 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     188         256 :   tracker_cmd.position.z = uav_state.pose.position.z;
+     189             : 
+     190         256 :   tracker_cmd.velocity.x = uav_state.velocity.linear.x;
+     191         256 :   tracker_cmd.velocity.y = uav_state.velocity.linear.y;
+     192         256 :   tracker_cmd.velocity.z = uav_state.velocity.linear.z;
+     193             : 
+     194             :   try {
+     195         256 :     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         256 :   tracker_cmd.use_position_vertical   = true;
+     203         256 :   tracker_cmd.use_position_horizontal = true;
+     204             : 
+     205         256 :   tracker_cmd.use_velocity_vertical   = true;
+     206         256 :   tracker_cmd.use_velocity_horizontal = true;
+     207             : 
+     208         256 :   tracker_cmd.use_heading = true;
+     209             : 
+     210         256 :   ROS_WARN_THROTTLE(0.1, "[MidairActivationTracker]: outputting cmd");
+     211             : 
+     212         256 :   return {tracker_cmd};
+     213             : }
+     214             : 
+     215             : //}
+     216             : 
+     217             : /* //{ getStatus() */
+     218             : 
+     219          17 : const mrs_msgs::TrackerStatus MidairActivationTracker::getStatus() {
+     220             : 
+     221          17 :   mrs_msgs::TrackerStatus tracker_status;
+     222             : 
+     223          17 :   tracker_status.active            = is_active_;
+     224          17 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     225             : 
+     226          17 :   return tracker_status;
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* //{ enableCallbacks() */
+     232             : 
+     233           2 : const std_srvs::SetBoolResponse::ConstPtr MidairActivationTracker::enableCallbacks([[maybe_unused]] const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     234             : 
+     235           4 :   std_srvs::SetBoolResponse res;
+     236             : 
+     237           2 :   res.message = "callbacks are always disabled";
+     238           2 :   res.success = true;
+     239             : 
+     240           4 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : /* switchOdometrySource() //{ */
+     246             : 
+     247           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     248             : 
+     249           0 :   return std_srvs::TriggerResponse::Ptr();
+     250             : }
+     251             : 
+     252             : //}
+     253             : 
+     254             : /* //{ hover() */
+     255             : 
+     256           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     257             : 
+     258           0 :   return std_srvs::TriggerResponse::Ptr();
+     259             : }
+     260             : 
+     261             : //}
+     262             : 
+     263             : /* //{ startTrajectoryTracking() */
+     264             : 
+     265           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     266           0 :   return std_srvs::TriggerResponse::Ptr();
+     267             : }
+     268             : 
+     269             : //}
+     270             : 
+     271             : /* //{ stopTrajectoryTracking() */
+     272             : 
+     273           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     274           0 :   return std_srvs::TriggerResponse::Ptr();
+     275             : }
+     276             : 
+     277             : //}
+     278             : 
+     279             : /* //{ resumeTrajectoryTracking() */
+     280             : 
+     281           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     282           0 :   return std_srvs::TriggerResponse::Ptr();
+     283             : }
+     284             : 
+     285             : //}
+     286             : 
+     287             : /* //{ gotoTrajectoryStart() */
+     288             : 
+     289           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     290           0 :   return std_srvs::TriggerResponse::Ptr();
+     291             : }
+     292             : 
+     293             : //}
+     294             : 
+     295             : /* //{ setConstraints() */
+     296             : 
+     297         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationTracker::setConstraints([
+     298             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     299             : 
+     300         294 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     301             : 
+     302         147 :   res.success = true;
+     303         147 :   res.message = "constraints updated";
+     304             : 
+     305         294 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     306             : }
+     307             : 
+     308             : //}
+     309             : 
+     310             : /* //{ setReference() */
+     311             : 
+     312           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MidairActivationTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     313             : 
+     314           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     315             : }
+     316             : 
+     317             : //}
+     318             : 
+     319             : /* //{ setVelocityReference() */
+     320             : 
+     321           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MidairActivationTracker::setVelocityReference([
+     322             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     323           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     324             : }
+     325             : 
+     326             : //}
+     327             : 
+     328             : /* //{ setTrajectoryReference() */
+     329             : 
+     330           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MidairActivationTracker::setTrajectoryReference([
+     331             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     332           1 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     333             : }
+     334             : 
+     335             : //}
+     336             : 
+     337             : }  // namespace midair_activation_tracker
+     338             : 
+     339             : }  // namespace mrs_uav_trackers
+     340             : 
+     341             : #include <pluginlib/class_list_macros.h>
+     342          47 : 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..7fa91f531d --- /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:1072167364.1 %
Date:2023-12-06 10:06:33Functions:284957.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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mpc_tracker.cpp +
64.1%64.1%
+ 		64.1 %1072 / 167357.1 %28 / 49
<unnamed>64.1 %1072 / 167357.1 %28 / 49
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Test:MRS UAV System - Test coverage reportLines:1072167364.1 %
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Test:MRS UAV System - Test coverage reportLines:1072167364.1 %
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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:1072167364.1 %
Date:2023-12-06 10:06:33Functions:284957.1 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackWiggle(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollision(double, double, double, double, double, double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintState(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintMPCResult(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)0
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTrackingImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavDiagnostics(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)0
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTrackingImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackToggleCollisionAvoidance(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)1
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()12
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)29
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)29
mrs_uav_trackers::mpc_tracker::MpcTracker::timerTrajectoryTracking(ros::TimerEvent const&)40
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)46
(anonymous namespace)::ProxyExec0::ProxyExec0()47
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>)47
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)47
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)132
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)154
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)200
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)229
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)1263
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()2152
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)6398
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()6680
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)20913
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)21983
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()22861
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)22861
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)22861
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()22861
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)22861
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/mpc_tracker - mpc_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1072167364.1 %
Date:2023-12-06 10:06:33Functions:284957.1 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()12
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>)47
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)154
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)132
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()22861
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)21983
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)29
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackWiggle(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollision(double, double, double, double, double, double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)1
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintState(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)200
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)22861
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)6398
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)22861
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()22861
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()6680
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintMPCResult(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)229
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::timerTrajectoryTracking(ros::TimerEvent const&)40
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)1263
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)0
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)47
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTrackingImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavDiagnostics(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)0
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)20913
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTrackingImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackToggleCollisionAvoidance(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)29
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)46
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)22861
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()2152
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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:1072167364.1 %
Date:2023-12-06 10:06:33Functions:284957.1 %
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : #include <mrs_uav_managers/controller.h>
+       8             : 
+       9             : #include <geometry_msgs/Pose.h>
+      10             : #include <geometry_msgs/PoseArray.h>
+      11             : 
+      12             : #include <mrs_msgs/FuturePoint.h>
+      13             : #include <mrs_msgs/FutureTrajectory.h>
+      14             : #include <mrs_msgs/MpcTrackerDiagnostics.h>
+      15             : #include <mrs_msgs/MpcPredictionFullState.h>
+      16             : #include <mrs_msgs/EstimationDiagnostics.h>
+      17             : #include <mrs_msgs/VelocityReference.h>
+      18             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      19             : 
+      20             : #include <std_msgs/String.h>
+      21             : 
+      22             : #include <mrs_lib/profiler.h>
+      23             : #include <mrs_lib/utils.h>
+      24             : #include <mrs_lib/mutex.h>
+      25             : #include <mrs_lib/attitude_converter.h>
+      26             : #include <mrs_lib/subscribe_handler.h>
+      27             : #include <mrs_lib/publisher_handler.h>
+      28             : #include <mrs_lib/geometry/cyclic.h>
+      29             : #include <mrs_lib/geometry/misc.h>
+      30             : #include <mrs_lib/scope_timer.h>
+      31             : 
+      32             : #include <mpc_tracker.h>
+      33             : 
+      34             : #include <dynamic_reconfigure/server.h>
+      35             : #include <mrs_uav_trackers/mpc_trackerConfig.h>
+      36             : 
+      37             : #include <visualization_msgs/Marker.h>
+      38             : #include <visualization_msgs/MarkerArray.h>
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* defines //{ */
+      43             : 
+      44             : using quat_t = Eigen::Quaterniond;
+      45             : 
+      46             : //}
+      47             : 
+      48             : /* using //{ */
+      49             : 
+      50             : using namespace Eigen;
+      51             : 
+      52             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      53             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      54             : 
+      55             : using radians  = mrs_lib::geometry::radians;
+      56             : using sradians = mrs_lib::geometry::sradians;
+      57             : 
+      58             : //}
+      59             : 
+      60             : namespace mrs_uav_trackers
+      61             : {
+      62             : 
+      63             : namespace mpc_tracker
+      64             : {
+      65             : 
+      66             : /* //{ class MpcTracker */
+      67             : 
+      68             : class MpcTracker : public mrs_uav_managers::Tracker {
+      69             : public:
+      70             :   bool initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      71             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      72             : 
+      73             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd);
+      74             :   void                          deactivate(void);
+      75             :   bool                          resetStatic(void);
+      76             : 
+      77             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState& uav_state, const mrs_uav_managers::Controller::ControlOutput& last_control_output);
+      78             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd);
+      79             :   const mrs_msgs::TrackerStatus             getStatus();
+      80             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState& new_uav_state);
+      81             : 
+      82             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd);
+      83             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd);
+      84             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd);
+      85             : 
+      86             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      87             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      88             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      89             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      90             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      91             : 
+      92             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd);
+      93             : 
+      94             : private:
+      95             :   ros::NodeHandle nh_;
+      96             : 
+      97             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      98             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      99             : 
+     100             :   std::atomic<bool> callbacks_enabled_ = true;
+     101             : 
+     102             :   std::string _uav_name_;
+     103             : 
+     104             :   // debugging publishers
+     105             :   mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics> pub_diagnostics_;
+     106             :   mrs_lib::PublisherHandler<std_msgs::String>                pub_status_string_;
+     107             : 
+     108             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_processed_trajectory_poses_;
+     109             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_processed_trajectory_markers_;
+     110             : 
+     111             :   mrs_msgs::UavState uav_state_;
+     112             :   std::mutex         mutex_uav_state_;
+     113             : 
+     114             :   bool is_active_      = false;
+     115             :   bool is_initialized_ = false;
+     116             : 
+     117             :   // | --------------------- MPC base params -------------------- |
+     118             : 
+     119             :   int _mpc_n_states_;          // number of states
+     120             :   int _mpc_m_states_;          // number of inputs
+     121             :   int _mpc_n_states_heading_;  // number of states - heading
+     122             :   int _mpc_n_inputs_heading_;  // number of inputs - heading
+     123             :   int _mpc_horizon_len_;       // lenght of the prediction horizon
+     124             : 
+     125             :   // | ----------------------- constraints ---------------------- |
+     126             : 
+     127             :   mrs_msgs::DynamicsConstraints constraints_;
+     128             :   std::mutex                    mutex_constraints_;
+     129             : 
+     130             :   mrs_msgs::DynamicsConstraints constraints_filtered_;
+     131             :   std::mutex                    mutex_constraints_filtered_;
+     132             : 
+     133             :   std::atomic<bool> got_constraints_     = false;
+     134             :   std::atomic<bool> all_constraints_set_ = false;
+     135             : 
+     136             :   double _diag_pos_tracking_thr_;
+     137             :   double _diag_heading_tracking_thr_;
+     138             : 
+     139             :   double _mpc_synchronous_rate_limit_;
+     140             :   double _mpc_asynchronous_rate_;
+     141             : 
+     142             :   double update_rate_ = 100.0;
+     143             : 
+     144             :   double     dt1_;
+     145             :   std::mutex mutex_dt1_;
+     146             : 
+     147             :   double _dt2_;
+     148             : 
+     149             :   MatrixXd          _mat_A_;  // system matrix for virtual UAV
+     150             :   MatrixXd          _mat_B_;  // input matrix for virtual UAV
+     151             :   MatrixXd          A_;       // system matrix for virtual UAV
+     152             :   MatrixXd          B_;       // input matrix for virtual UAV
+     153             :   std::atomic<bool> model_first_iteration_ = true;
+     154             :   ros::Time         model_iteration_last_time_;
+     155             : 
+     156             :   MatrixXd _mat_A_heading_;  // system matrix for heading
+     157             :   MatrixXd _mat_B_heading_;  // input matrix for heading
+     158             :   MatrixXd A_heading_;       // system matrix for heading
+     159             :   MatrixXd B_heading_;       // input matrix for heading
+     160             : 
+     161             :   // the reference over the prediction horizon per axis
+     162             :   MatrixXd   des_x_trajectory_;
+     163             :   MatrixXd   des_y_trajectory_;
+     164             :   MatrixXd   des_z_trajectory_;
+     165             :   MatrixXd   des_heading_trajectory_;
+     166             :   std::mutex mutex_des_trajectory_;
+     167             : 
+     168             :   // the reference filtered over the prediction horizon per axis
+     169             :   MatrixXd des_z_filtered_offset_;
+     170             : 
+     171             :   // the whole trajectory reference split per axis
+     172             :   std::shared_ptr<VectorXd> des_x_whole_trajectory_;
+     173             :   std::shared_ptr<VectorXd> des_y_whole_trajectory_;
+     174             :   std::shared_ptr<VectorXd> des_z_whole_trajectory_;
+     175             :   std::shared_ptr<VectorXd> des_heading_whole_trajectory_;
+     176             :   int                       des_whole_trajectory_id_ = 0;
+     177             :   std::mutex                mutex_des_whole_trajectory_;
+     178             : 
+     179             :   // trajectory tracking
+     180             :   std::atomic<bool> trajectory_tracking_in_progress_ = false;
+     181             :   int               trajectory_tracking_sub_idx_     = 0;  // increases with every iteration of the simulated model
+     182             :   int               trajectory_tracking_idx_         = 0;  // while tracking, this is the current index in the des_*_whole trajectory
+     183             :   std::mutex        mutex_trajectory_tracking_states_;
+     184             : 
+     185             :   // params of the loaded trajectory
+     186             :   int    trajectory_size_          = 0;
+     187             :   double trajectory_dt_            = 0.2;
+     188             :   bool   trajectory_track_heading_ = false;
+     189             :   bool   trajectory_tracking_loop_ = false;
+     190             :   bool   trajectory_set_           = false;
+     191             :   int    trajectory_count_         = 0;  // counts how many trajectories we have received
+     192             : 
+     193             :   // mpc output
+     194             :   VectorXd   mpc_u_;
+     195             :   double     mpc_u_heading_;
+     196             :   std::mutex mutex_mpc_u_;
+     197             : 
+     198             :   // current state of the dynamical system
+     199             :   MatrixXd   mpc_x_;          // translation state
+     200             :   MatrixXd   mpc_x_heading_;  // heading state
+     201             :   std::mutex mutex_mpc_x_;
+     202             : 
+     203             :   // odometry reset
+     204             :   std::atomic<bool> odometry_reset_in_progress_ = false;
+     205             :   std::atomic<bool> mpc_result_invalid_         = false;
+     206             : 
+     207             :   // predicting the future
+     208             :   MatrixXd   predicted_trajectory_;
+     209             :   MatrixXd   predicted_heading_trajectory_;
+     210             :   std::mutex mutex_predicted_trajectory_;
+     211             : 
+     212             :   mrs_msgs::MpcPredictionFullState prediction_full_state_;
+     213             :   std::mutex                       mutex_prediction_full_state_;
+     214             : 
+     215             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_predicted_trajectory_debugging_;
+     216             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_mpc_reference_debugging_;
+     217             :   mrs_lib::PublisherHandler<geometry_msgs::PoseStamped> ph_current_trajectory_point_;
+     218             : 
+     219             :   std::atomic<bool> mpc_computed_ = false;
+     220             : 
+     221             :   bool brake_ = false;
+     222             : 
+     223             :   // | ----------------------- MPC solver ----------------------- |
+     224             : 
+     225             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_y_;
+     226             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_x_;
+     227             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_z_;
+     228             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_heading_;
+     229             : 
+     230             :   std::mutex mutex_mpc_calculation_;
+     231             : 
+     232             :   int _max_iters_xy_;
+     233             :   int _max_iters_z_;
+     234             :   int _max_iters_heading_;
+     235             : 
+     236             :   // | ----------- measuring the "MPC realtime factor" ---------- |
+     237             : 
+     238             :   double mpc_rtf_ = 0.0;
+     239             : 
+     240             :   // | ------------------- collision avoidance ------------------ |
+     241             : 
+     242             :   // configurable params
+     243             :   bool collision_avoidance_enabled_           = false;
+     244             :   bool collision_avoidance_enabled_passively_ = true;
+     245             : 
+     246             :   // TODO what is this?
+     247             :   double    coef_scaler = 0;
+     248             :   ros::Time coef_time;
+     249             : 
+     250             :   double minimum_collison_free_altitude_ = std::numeric_limits<double>::lowest();
+     251             : 
+     252             :   // params
+     253             :   double                   _avoidance_trajectory_rate_;
+     254             :   double                   _avoidance_radius_threshold_;
+     255             :   double                   _avoidance_z_correction_;
+     256             :   std::string              _avoidance_diagnostics_topic_name_;
+     257             :   std::vector<std::string> _avoidance_other_uav_names_;
+     258             :   double                   _avoidance_z_threshold_;
+     259             : 
+     260             :   // how old can the other UAV trajectory be (since receive time)
+     261             :   double _collision_trajectory_timeout_;
+     262             : 
+     263             :   // when collision detected, slow down during the manouver
+     264             :   double _avoidance_collision_horizontal_speed_coef_;
+     265             : 
+     266             :   // when collision detected, slow down fully this number of steps before it
+     267             :   int _avoidance_collision_slow_down_fully_;
+     268             : 
+     269             :   // when collision detected, start slowing down this number of steps before it
+     270             :   int _avoidance_collision_slow_down_;
+     271             : 
+     272             :   // when avoiding, start climbing this number of steps before it
+     273             :   int _avoidance_collision_start_climbing_;
+     274             : 
+     275             :   int avoidance_this_uav_number_;
+     276             :   int avoidance_this_uav_priority_;
+     277             : 
+     278             :   double            collision_free_altitude_;
+     279             :   std::atomic<bool> avoiding_collision_               = false;
+     280             :   bool              collision_avoidance_affecting_me_ = false;
+     281             : 
+     282             :   // avoidance trajectory will not be published unless we computed it at least once
+     283             :   std::atomic<bool> future_was_predicted_ = false;
+     284             : 
+     285             :   // subscribing to the other UAV future trajectories
+     286             :   void callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg);
+     287             : 
+     288             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>> other_uav_trajectory_subscribers_;
+     289             :   std::map<std::string, mrs_msgs::FutureTrajectory>                  other_uav_avoidance_trajectories_;
+     290             :   std::mutex                                                         mutex_other_uav_avoidance_trajectories_;
+     291             : 
+     292             :   // subscribing to the other UAV diagnostics'
+     293             :   void callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg);
+     294             : 
+     295             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>> other_uav_diag_subscribers_;
+     296             :   std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>                  other_uav_diagnostics_;
+     297             :   std::mutex                                                              mutex_other_uav_diagnostics_;
+     298             : 
+     299             :   bool checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     300             :   bool checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     301             : 
+     302             :   mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory> ph_avoidance_trajectory_;
+     303             : 
+     304             :   ros::ServiceServer service_server_toggle_avoidance_;
+     305             :   bool               callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     306             : 
+     307             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+     308             : 
+     309             :   // | --------------------- MPC calculation -------------------- |
+     310             : 
+     311             :   ros::Timer        timer_mpc_iteration_;
+     312             :   std::atomic<bool> mpc_synchronous_ = false;
+     313             : 
+     314             :   std::atomic<bool> mpc_timer_running_ = false;
+     315             :   void              timerMPC(const ros::TimerEvent& event);
+     316             : 
+     317             :   // | ------------------- trajectory tracking ------------------ |
+     318             : 
+     319             :   ros::Timer timer_trajectory_tracking_;
+     320             :   void       timerTrajectoryTracking(const ros::TimerEvent& event);
+     321             : 
+     322             :   // | -------------------- velocity tracking ------------------- |
+     323             : 
+     324             :   ros::Timer                  timer_velocity_tracking_;
+     325             :   void                        timerVelocityTracking(const ros::TimerEvent& event);
+     326             :   ros::Time                   velocity_reference_time_;
+     327             :   mrs_msgs::VelocityReference velocity_reference_;
+     328             :   std::mutex                  mutex_velocity_reference_;
+     329             :   std::atomic<bool>           velocity_tracking_active_ = false;
+     330             : 
+     331             :   // | ------------------ avoidance trajectory ------------------ |
+     332             : 
+     333             :   ros::Timer timer_avoidance_trajectory_;
+     334             :   void       timerAvoidanceTrajectory(const ros::TimerEvent& event);
+     335             : 
+     336             :   // | ----------------------- diagnostics ---------------------- |
+     337             : 
+     338             :   ros::Timer timer_diagnostics_;
+     339             :   double     _diagnostics_rate_;
+     340             :   void       timerDiagnostics(const ros::TimerEvent& event);
+     341             : 
+     342             :   // | ------------------------ hovering ------------------------ |
+     343             : 
+     344             :   ros::Timer        timer_hover_;
+     345             :   void              timerHover(const ros::TimerEvent& event);
+     346             :   std::atomic<bool> hovering_in_progress_ = false;
+     347             :   void              toggleHover(bool in);
+     348             : 
+     349             :   // | ------------------- trajectory tracking ------------------ |
+     350             : 
+     351             :   std::tuple<bool, std::string> resumeTrajectoryTrackingImpl(void);
+     352             :   std::tuple<bool, std::string> startTrajectoryTrackingImpl(void);
+     353             :   std::tuple<bool, std::string> stopTrajectoryTrackingImpl(void);
+     354             :   std::tuple<bool, std::string> gotoTrajectoryStartImpl(void);
+     355             : 
+     356             :   // | --------------------- other routines --------------------- |
+     357             : 
+     358             :   void publishDiagnostics();
+     359             : 
+     360             :   void debugPrintState(const double throttle);
+     361             :   void debugPrintMPCResult(const double throttle);
+     362             : 
+     363             :   void setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     364             :   void setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     365             :   void setSinglePointReference(const double x, const double y, const double z, const double heading);
+     366             : 
+     367             :   std::tuple<bool, std::string, bool> loadTrajectory(const mrs_msgs::TrajectoryReference msg);
+     368             : 
+     369             :   MatrixXd                       filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed);
+     370             :   std::tuple<MatrixXd, MatrixXd> filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x, double max_speed_y);
+     371             : 
+     372             :   double checkTrajectoryForCollisions(int& first_collision_index);
+     373             : 
+     374             :   void manageConstraints(void);
+     375             :   void calculateMPC(void);
+     376             :   void iterateModel(const double& dt);
+     377             : 
+     378             :   // | ------------------------ profiler ------------------------ |
+     379             : 
+     380             :   mrs_lib::Profiler profiler;
+     381             :   bool              _profiler_enabled_ = false;
+     382             : 
+     383             :   // | ------------------------- wiggle ------------------------- |
+     384             : 
+     385             :   ros::ServiceServer service_server_wiggle_;
+     386             :   bool               callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     387             : 
+     388             :   double wiggle_phase_ = 0;
+     389             : 
+     390             :   // | --------------- dynamic reconfigure server --------------- |
+     391             : 
+     392             :   void dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, uint32_t level);
+     393             : 
+     394             :   boost::recursive_mutex                      config_mutex_;
+     395             :   typedef mrs_uav_trackers::mpc_trackerConfig Config;
+     396             :   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+     397             :   boost::shared_ptr<ReconfigureServer>        reconfigure_server_;
+     398             :   mrs_uav_trackers::mpc_trackerConfig         drs_params_;
+     399             :   std::mutex                                  mutex_drs_params_;
+     400             : };
+     401             : 
+     402             : //}
+     403             : 
+     404             : // | -------------- tracker's interface routines -------------- |
+     405             : 
+     406             : /* //{ initialize() */
+     407             : 
+     408          47 : bool MpcTracker::initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     409             :                             std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     410             : 
+     411          47 :   nh_ = nh;
+     412             : 
+     413          47 :   common_handlers_  = common_handlers;
+     414          47 :   private_handlers_ = private_handlers;
+     415             : 
+     416          47 :   _uav_name_ = common_handlers->uav_name;
+     417             : 
+     418          47 :   ros::Time::waitForValid();
+     419             : 
+     420             :   // --------------------------------------------------------------
+     421             :   // |                     loading parameters                     |
+     422             :   // --------------------------------------------------------------
+     423             : 
+     424             :   // | ---------- loading params using the parent's nh ---------- |
+     425             : 
+     426          94 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     427             : 
+     428          47 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     429             : 
+     430          47 :   if (!param_loader_parent.loadedSuccessfully()) {
+     431           0 :     ROS_ERROR("[MpcTracker]: Could not load all parameters!");
+     432           0 :     return false;
+     433             :   }
+     434             : 
+     435             :   // | --------------- loading plugin's parameters -------------- |
+     436             : 
+     437          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/mpc_tracker.yaml");
+     438          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/mpc_tracker.yaml");
+     439             : 
+     440          94 :   const std::string yaml_prefix = "mrs_uav_trackers/mpc_tracker/";
+     441             : 
+     442          47 :   private_handlers->param_loader->loadParam("network/robot_names", _avoidance_other_uav_names_);
+     443             : 
+     444          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/synchronous_rate_limit", _mpc_synchronous_rate_limit_);
+     445          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/asynchronous_loop_rate", _mpc_asynchronous_rate_);
+     446             : 
+     447          47 :   if (_mpc_asynchronous_rate_ < 15) {
+     448           0 :     ROS_ERROR("[MpcTracker]: the asynchronous_loop_rate must be > 15 Hz");
+     449           0 :     return false;
+     450             :   }
+     451             : 
+     452          47 :   dt1_ = 1.0 / _mpc_asynchronous_rate_;
+     453             : 
+     454          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/enabled", drs_params_.braking_enabled);
+     455          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_braking", drs_params_.q_vel_braking);
+     456          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_no_braking", drs_params_.q_vel_no_braking);
+     457             : 
+     458          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/translation/n_states", _mpc_n_states_);
+     459          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/translation/n_inputs", _mpc_m_states_);
+     460          47 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/translation/A", _mat_A_, _mpc_n_states_, _mpc_n_states_);
+     461          47 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/translation/B", _mat_B_, _mpc_n_states_, _mpc_m_states_);
+     462             : 
+     463          47 :   A_ = _mat_A_;
+     464          47 :   B_ = _mat_B_;
+     465             : 
+     466          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/heading/n_states", _mpc_n_states_heading_);
+     467          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/heading/n_inputs", _mpc_n_inputs_heading_);
+     468          47 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/heading/A", _mat_A_heading_, _mpc_n_states_heading_, _mpc_n_states_heading_);
+     469          47 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/heading/B", _mat_B_heading_, _mpc_n_states_heading_, _mpc_n_inputs_heading_);
+     470             : 
+     471          47 :   A_heading_ = _mat_A_heading_;
+     472          47 :   B_heading_ = _mat_B_heading_;
+     473             : 
+     474             :   // load the MPC parameters
+     475          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/horizon_len", _mpc_horizon_len_);
+     476             : 
+     477          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/dt2", _dt2_);
+     478             : 
+     479          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_rate_);
+     480          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/position_tracking_threshold", _diag_pos_tracking_thr_);
+     481          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/orientation_tracking_threshold", _diag_heading_tracking_thr_);
+     482             : 
+     483          47 :   bool verbose_xy      = false;
+     484          47 :   bool verbose_z       = false;
+     485          47 :   bool verbose_heading = false;
+     486             : 
+     487          94 :   std::vector<double> xy_Q;
+     488          94 :   std::vector<double> z_Q;
+     489          94 :   std::vector<double> heading_Q;
+     490             : 
+     491          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/verbose", verbose_xy);
+     492          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/max_n_iterations", _max_iters_xy_);
+     493          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/Q", xy_Q);
+     494             : 
+     495          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/verbose", verbose_z);
+     496          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/max_n_iterations", _max_iters_z_);
+     497          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/Q", z_Q);
+     498             : 
+     499          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/verbose", verbose_heading);
+     500          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/max_n_iterations", _max_iters_heading_);
+     501          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/Q", heading_Q);
+     502             : 
+     503          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/enabled", drs_params_.wiggle_enabled);
+     504          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/amplitude", drs_params_.wiggle_amplitude);
+     505          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/frequency", drs_params_.wiggle_frequency);
+     506             : 
+     507          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled", collision_avoidance_enabled_);
+     508          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled_passively", collision_avoidance_enabled_passively_);
+     509          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/predicted_trajectory_publish_rate", _avoidance_trajectory_rate_);
+     510          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/correction", _avoidance_z_correction_);
+     511          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/radius", _avoidance_radius_threshold_);
+     512          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/altitude_threshold", _avoidance_z_threshold_);
+     513          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_horizontal_speed_coef", _avoidance_collision_horizontal_speed_coef_);
+     514          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_fully", _avoidance_collision_slow_down_fully_);
+     515          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_start", _avoidance_collision_slow_down_);
+     516          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_start_climbing", _avoidance_collision_start_climbing_);
+     517          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/trajectory_timeout", _collision_trajectory_timeout_);
+     518             : 
+     519          47 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     520           0 :     ROS_ERROR("[MpcTracker]: could not load all parameters!");
+     521           0 :     return false;
+     522             :   }
+     523             : 
+     524          47 :   ROS_INFO_STREAM("[MpcTracker]: initializing solvers with dt1 = " << dt1_);
+     525             : 
+     526          47 :   mpc_solver_y_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_y", verbose_xy, _max_iters_xy_, xy_Q, dt1_, _dt2_, 1);
+     527          47 :   mpc_solver_x_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_x", verbose_xy, _max_iters_xy_, xy_Q, dt1_, _dt2_, 0);
+     528          47 :   mpc_solver_z_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_z", verbose_z, _max_iters_z_, z_Q, dt1_, _dt2_, 2);
+     529             :   mpc_solver_heading_ =
+     530          47 :       std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_hdg", verbose_heading, _max_iters_heading_, heading_Q, dt1_, _dt2_, 0);
+     531             : 
+     532          47 :   mpc_x_         = MatrixXd::Zero(_mpc_n_states_, 1);
+     533          47 :   mpc_x_heading_ = MatrixXd::Zero(_mpc_n_states_heading_, 1);
+     534             : 
+     535          47 :   mpc_u_ = VectorXd::Zero(_mpc_m_states_);
+     536             : 
+     537          47 :   coef_time = ros::Time(0);
+     538             : 
+     539          47 :   des_x_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     540          47 :   des_y_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     541          47 :   des_z_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     542          47 :   des_z_filtered_offset_  = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     543          47 :   des_heading_trajectory_ = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     544             : 
+     545          47 :   service_server_wiggle_ = nh_.advertiseService("wiggle", &MpcTracker::callbackWiggle, this);
+     546             : 
+     547          47 :   pub_diagnostics_   = mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics>(nh_, "diagnostics", 1);
+     548          47 :   pub_status_string_ = mrs_lib::PublisherHandler<std_msgs::String>(nh_, "string", 1);
+     549             : 
+     550             :   // extract the numerical name
+     551          47 :   sscanf(_uav_name_.c_str(), "uav%d", &avoidance_this_uav_number_);
+     552          47 :   ROS_INFO("[MpcTracker]: Numerical ID of this UAV is %d", avoidance_this_uav_number_);
+     553          47 :   avoidance_this_uav_priority_ = avoidance_this_uav_number_;
+     554             : 
+     555             :   // exclude this drone from the list
+     556          47 :   std::vector<std::string>::iterator it = _avoidance_other_uav_names_.begin();
+     557          94 :   while (it != _avoidance_other_uav_names_.end()) {
+     558             : 
+     559          47 :     std::string temp_str = *it;
+     560             : 
+     561             :     int other_uav_priority;
+     562          47 :     sscanf(temp_str.c_str(), "uav%d", &other_uav_priority);
+     563             : 
+     564          47 :     if (other_uav_priority == avoidance_this_uav_number_) {
+     565             : 
+     566          47 :       _avoidance_other_uav_names_.erase(it);
+     567          47 :       continue;
+     568             :     }
+     569             : 
+     570           0 :     it++;
+     571             :   }
+     572             : 
+     573             :   // initialize velocity tracker
+     574             : 
+     575          47 :   velocity_reference_time_ = ros::Time(0);
+     576             : 
+     577             :   // create publishers for predicted trajectory
+     578             : 
+     579          47 :   ph_avoidance_trajectory_           = mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory>(nh_, "predicted_trajectory", 1);
+     580          47 :   ph_predicted_trajectory_debugging_ = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "predicted_trajectory_debugging", 1);
+     581          47 :   ph_mpc_reference_debugging_        = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "mpc_reference_debugging", 1, true);
+     582          47 :   ph_current_trajectory_point_       = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "current_trajectory_point", 1, true);
+     583             : 
+     584          47 :   pub_debug_processed_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_processed/poses", 1, true);
+     585          47 :   pub_debug_processed_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_processed/markers", 1, true);
+     586             : 
+     587             :   // preallocate predicted trajectory
+     588          47 :   predicted_trajectory_         = MatrixXd::Zero(_mpc_horizon_len_ * _mpc_n_states_, 1);
+     589          47 :   predicted_heading_trajectory_ = MatrixXd::Zero(_mpc_horizon_len_ * _mpc_n_states_, 1);
+     590             : 
+     591          47 :   collision_free_altitude_ = std::numeric_limits<float>::lowest();
+     592             : 
+     593             :   // collision avoidance toggle service
+     594          47 :   service_server_toggle_avoidance_ = nh_.advertiseService("collision_avoidance", &MpcTracker::callbackToggleCollisionAvoidance, this);
+     595             : 
+     596          94 :   mrs_lib::SubscribeHandlerOptions shopts;
+     597          47 :   shopts.nh                 = nh_;
+     598          47 :   shopts.node_name          = "MpcTracker";
+     599          47 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     600          47 :   shopts.threadsafe         = true;
+     601          47 :   shopts.autostart          = true;
+     602          47 :   shopts.queue_size         = 10;
+     603          47 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     604             : 
+     605             :   // create subscribers on other drones diagnostics
+     606          47 :   if (collision_avoidance_enabled_ || collision_avoidance_enabled_passively_) {
+     607             : 
+     608          47 :     for (int i = 0; i < int(_avoidance_other_uav_names_.size()); i++) {
+     609             : 
+     610           0 :       std::string prediction_topic_name = std::string("/") + _avoidance_other_uav_names_[i] + "/control_manager/mpc_tracker/predicted_trajectory";
+     611           0 :       std::string diag_topic_name       = std::string("/") + _avoidance_other_uav_names_[i] + "/control_manager/mpc_tracker/diagnostics";
+     612             : 
+     613           0 :       ROS_INFO("[MpcTracker]: subscribing to %s", prediction_topic_name.c_str());
+     614             : 
+     615           0 :       other_uav_trajectory_subscribers_.push_back(
+     616           0 :           mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>(shopts, prediction_topic_name, &MpcTracker::callbackOtherMavTrajectory, this));
+     617             : 
+     618           0 :       ROS_INFO("[MpcTracker]: subscribing to %s", diag_topic_name.c_str());
+     619             : 
+     620           0 :       other_uav_diag_subscribers_.push_back(
+     621           0 :           mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>(shopts, diag_topic_name, &MpcTracker::callbackOtherMavDiagnostics, this));
+     622             :     }
+     623             :   }
+     624             : 
+     625          47 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, std::string("/") + _uav_name_ + "/estimation_manager/diagnostics");
+     626             : 
+     627             :   // | --------------- dynamic reconfigure server --------------- |
+     628             : 
+     629          47 :   reconfigure_server_.reset(new ReconfigureServer(config_mutex_, nh_));
+     630          47 :   reconfigure_server_->updateConfig(drs_params_);
+     631          47 :   ReconfigureServer::CallbackType f = boost::bind(&MpcTracker::dynamicReconfigureCallback, this, _1, _2);
+     632          47 :   reconfigure_server_->setCallback(f);
+     633             : 
+     634             :   // | ------------------------ profiler ------------------------ |
+     635             : 
+     636          47 :   profiler = mrs_lib::Profiler(common_handlers->parent_nh, "MpcTracker", _profiler_enabled_);
+     637             : 
+     638             :   // | ------------------------- timers ------------------------- |
+     639             : 
+     640          94 :   timer_avoidance_trajectory_ = nh_.createTimer(ros::Rate(_avoidance_trajectory_rate_), &MpcTracker::timerAvoidanceTrajectory, this, false,
+     641          94 :                                                 collision_avoidance_enabled_ || collision_avoidance_enabled_passively_);
+     642          47 :   timer_diagnostics_          = nh_.createTimer(ros::Rate(_diagnostics_rate_), &MpcTracker::timerDiagnostics, this);
+     643          47 :   timer_mpc_iteration_        = nh_.createTimer(ros::Rate(_mpc_asynchronous_rate_), &MpcTracker::timerMPC, this, false, false);
+     644          47 :   timer_trajectory_tracking_  = nh_.createTimer(ros::Rate(1.0), &MpcTracker::timerTrajectoryTracking, this, false, false);
+     645          47 :   timer_velocity_tracking_    = nh_.createTimer(ros::Rate(30.0), &MpcTracker::timerVelocityTracking, this, false, false);
+     646          47 :   timer_hover_                = nh_.createTimer(ros::Rate(10.0), &MpcTracker::timerHover, this, false, false);
+     647             : 
+     648             :   // | ----------------------- finish init ---------------------- |
+     649             : 
+     650          47 :   is_initialized_ = true;
+     651             : 
+     652          47 :   ROS_INFO("[MpcTracker]: initialized");
+     653             : 
+     654          47 :   return true;
+     655             : }
+     656             : 
+     657             : //}
+     658             : 
+     659             : /* //{ activate() */
+     660             : 
+     661          46 : std::tuple<bool, std::string> MpcTracker::activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     662             : 
+     663          92 :   std::stringstream ss;
+     664             : 
+     665          46 :   if (!got_constraints_) {
+     666             : 
+     667           0 :     ss << "can not activate, missing constraints";
+     668           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     669             : 
+     670           0 :     return std::tuple(false, ss.str());
+     671             :   }
+     672             : 
+     673          92 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     674             : 
+     675             :   double uav_state_heading;
+     676             : 
+     677             :   try {
+     678          46 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     679             :   }
+     680           0 :   catch (...) {
+     681           0 :     ss << "could not calculate the UAV heading";
+     682           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     683           0 :     return std::tuple(false, ss.str());
+     684             :   }
+     685             : 
+     686          92 :   MatrixXd mpc_x         = MatrixXd::Zero(_mpc_n_states_, 1);
+     687          46 :   MatrixXd mpc_x_heading = MatrixXd::Zero(_mpc_n_states_heading_, 1);
+     688             : 
+     689          46 :   if (last_tracker_cmd) {
+     690             : 
+     691             :     // set the initial condition from the last tracker's cmd
+     692             : 
+     693          46 :     if (last_tracker_cmd->use_position_horizontal) {
+     694          46 :       mpc_x(0, 0) = last_tracker_cmd->position.x;
+     695          46 :       mpc_x(4, 0) = last_tracker_cmd->position.y;
+     696             :     } else {
+     697           0 :       mpc_x(0, 0) = uav_state.pose.position.x;
+     698           0 :       mpc_x(4, 0) = uav_state.pose.position.y;
+     699             :     }
+     700             : 
+     701          46 :     if (last_tracker_cmd->use_position_vertical) {
+     702          46 :       mpc_x(8, 0) = last_tracker_cmd->position.z;
+     703             :     } else {
+     704           0 :       mpc_x(8, 0) = uav_state.pose.position.z;
+     705             :     }
+     706             : 
+     707          46 :     if (last_tracker_cmd->use_velocity_horizontal) {
+     708          46 :       mpc_x(1, 0) = last_tracker_cmd->velocity.x;
+     709          46 :       mpc_x(5, 0) = last_tracker_cmd->velocity.y;
+     710             :     } else {
+     711           0 :       mpc_x(1, 0) = uav_state.velocity.linear.x;
+     712           0 :       mpc_x(5, 0) = uav_state.velocity.linear.y;
+     713             :     }
+     714             : 
+     715          46 :     if (last_tracker_cmd->use_velocity_vertical) {
+     716          46 :       mpc_x(9, 0) = last_tracker_cmd->velocity.z;
+     717             :     } else {
+     718           0 :       mpc_x(9, 0) = uav_state.velocity.linear.z;
+     719             :     }
+     720             : 
+     721          46 :     if (last_tracker_cmd->use_acceleration) {
+     722           0 :       mpc_x(2, 0)  = last_tracker_cmd->acceleration.x;
+     723           0 :       mpc_x(6, 0)  = last_tracker_cmd->acceleration.y;
+     724           0 :       mpc_x(10, 0) = last_tracker_cmd->acceleration.z;
+     725             :     } else {
+     726          46 :       mpc_x(2, 0)  = 0;
+     727          46 :       mpc_x(6, 0)  = 0;
+     728          46 :       mpc_x(10, 0) = 0;
+     729             :     }
+     730             : 
+     731             :     // the jerks
+     732          46 :     mpc_x(3, 0)  = 0;
+     733          46 :     mpc_x(7, 0)  = 0;
+     734          46 :     mpc_x(11, 0) = 0;
+     735             : 
+     736          46 :     if (last_tracker_cmd->use_heading) {
+     737          46 :       mpc_x_heading(0, 0) = last_tracker_cmd->heading;
+     738           0 :     } else if (last_tracker_cmd->use_orientation) {
+     739             :       try {
+     740           0 :         mpc_x_heading(0, 0) = mrs_lib::AttitudeConverter(last_tracker_cmd->orientation).getHeading();
+     741             :       }
+     742           0 :       catch (...) {
+     743           0 :         mpc_x_heading(0, 0) = uav_state_heading;
+     744             :       }
+     745             :     } else {
+     746           0 :       mpc_x_heading(0, 0) = uav_state_heading;
+     747             :     }
+     748             : 
+     749          46 :     if (last_tracker_cmd->use_heading_rate) {
+     750           5 :       mpc_x_heading(1, 0) = last_tracker_cmd->heading_rate;
+     751             :     } else {
+     752          41 :       mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     753             :     }
+     754             : 
+     755          46 :     mpc_x_heading(2, 0) = 0;
+     756          46 :     mpc_x_heading(3, 0) = 0;
+     757             : 
+     758          46 :     ROS_INFO("[MpcTracker]: activated with last tracker's command");
+     759             : 
+     760             :   } else {
+     761             : 
+     762             :     // set the initial condition completely from the uav_state
+     763             : 
+     764           0 :     mpc_x(0, 0) = uav_state.pose.position.x;
+     765           0 :     mpc_x(1, 0) = uav_state.velocity.linear.x;
+     766           0 :     mpc_x(2, 0) = 0;
+     767           0 :     mpc_x(3, 0) = 0;
+     768             : 
+     769           0 :     mpc_x(4, 0) = uav_state.pose.position.y;
+     770           0 :     mpc_x(5, 0) = uav_state.velocity.linear.y;
+     771           0 :     mpc_x(6, 0) = 0;
+     772           0 :     mpc_x(7, 0) = 0;
+     773             : 
+     774           0 :     mpc_x(8, 0)  = uav_state.pose.position.z;
+     775           0 :     mpc_x(9, 0)  = uav_state.velocity.linear.z;
+     776           0 :     mpc_x(10, 0) = 0;
+     777           0 :     mpc_x(11, 0) = 0;
+     778             : 
+     779           0 :     mpc_x_heading(0, 0) = uav_state_heading;
+     780           0 :     mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     781           0 :     mpc_x_heading(2, 0) = 0;
+     782           0 :     mpc_x_heading(3, 0) = 0;
+     783             : 
+     784           0 :     ROS_INFO("[MpcTracker]: activated with uav state");
+     785             :   }
+     786             : 
+     787             :   {
+     788          92 :     std::scoped_lock lock(mutex_mpc_x_);
+     789             : 
+     790          46 :     mpc_x_         = mpc_x;
+     791          46 :     mpc_x_heading_ = mpc_x_heading;
+     792             :   }
+     793             : 
+     794          46 :   trajectory_tracking_in_progress_ = false;
+     795             : 
+     796          46 :   timer_trajectory_tracking_.stop();
+     797             : 
+     798          46 :   ss << "activated";
+     799          46 :   ROS_INFO_STREAM("[MpcTracker]: " << ss.str());
+     800             : 
+     801             :   // this is here to initialize the desired_trajectory vector
+     802             :   // if deleted (and I tried) the UAV will briefly fly to the
+     803             :   // origin after activation
+     804          46 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     805             : 
+     806          46 :   toggleHover(true);
+     807             : 
+     808          46 :   model_first_iteration_ = true;
+     809             : 
+     810          46 :   A_ = _mat_A_;
+     811          46 :   B_ = _mat_B_;
+     812             : 
+     813          46 :   A_heading_ = _mat_A_heading_;
+     814          46 :   B_heading_ = _mat_B_heading_;
+     815             : 
+     816          46 :   is_active_ = true;
+     817             : 
+     818          46 :   if (!mpc_synchronous_) {
+     819          38 :     timer_mpc_iteration_.start();
+     820             :   }
+     821             : 
+     822          46 :   return std::tuple(true, ss.str());
+     823             : }
+     824             : 
+     825             : //}
+     826             : 
+     827             : /* //{ deactivate() */
+     828             : 
+     829          12 : void MpcTracker::deactivate(void) {
+     830             : 
+     831          12 :   toggleHover(false);
+     832             : 
+     833          12 :   is_active_                       = false;
+     834          12 :   trajectory_tracking_in_progress_ = false;
+     835          12 :   model_first_iteration_           = true;
+     836             : 
+     837          12 :   timer_trajectory_tracking_.stop();
+     838             : 
+     839             :   {
+     840          12 :     std::scoped_lock lock(mutex_trajectory_tracking_states_);
+     841             : 
+     842          12 :     trajectory_tracking_idx_     = 0;
+     843          12 :     trajectory_tracking_sub_idx_ = 0;
+     844             :   }
+     845             : 
+     846          12 :   ROS_INFO("[MpcTracker]: deactivated");
+     847             : 
+     848          12 :   timer_mpc_iteration_.stop();
+     849             : 
+     850          12 :   publishDiagnostics();
+     851          12 : }
+     852             : 
+     853             : //}
+     854             : 
+     855             : /* //{ resetStatic() */
+     856             : 
+     857           0 : bool MpcTracker::resetStatic(void) {
+     858             : 
+     859           0 :   if (!is_initialized_) {
+     860           0 :     ROS_ERROR("[MpcTracker]: can not reset, not initialized");
+     861           0 :     return false;
+     862             :   }
+     863             : 
+     864           0 :   if (!is_active_) {
+     865           0 :     ROS_ERROR("[MpcTracker]: can not reset, not active");
+     866           0 :     return false;
+     867             :   }
+     868             : 
+     869           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     870             : 
+     871             :   double uav_state_heading;
+     872             : 
+     873             :   try {
+     874           0 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     875             :   }
+     876           0 :   catch (...) {
+     877           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: could not calculate the UAV heading");
+     878           0 :     return false;
+     879             :   }
+     880             : 
+     881             :   {
+     882           0 :     std::scoped_lock lock(mutex_mpc_x_);
+     883             : 
+     884             :     // set the initial condition from the odometry
+     885             : 
+     886           0 :     ROS_INFO("[MpcTracker]: reseting with uav state with no dynamics");
+     887             : 
+     888           0 :     mpc_x_(0, 0) = uav_state.pose.position.x;
+     889           0 :     mpc_x_(1, 0) = 0;
+     890           0 :     mpc_x_(2, 0) = 0;
+     891           0 :     mpc_x_(3, 0) = 0;
+     892             : 
+     893           0 :     mpc_x_(4, 0) = uav_state.pose.position.y;
+     894           0 :     mpc_x_(5, 0) = 0;
+     895           0 :     mpc_x_(6, 0) = 0;
+     896           0 :     mpc_x_(7, 0) = 0;
+     897             : 
+     898           0 :     mpc_x_(8, 0)  = uav_state.pose.position.z;
+     899           0 :     mpc_x_(9, 0)  = 0;
+     900           0 :     mpc_x_(10, 0) = 0;
+     901           0 :     mpc_x_(11, 0) = 0;
+     902             : 
+     903           0 :     mpc_x_heading_(0, 0) = uav_state_heading;
+     904           0 :     mpc_x_heading_(1, 0) = 0;
+     905           0 :     mpc_x_heading_(2, 0) = 0;
+     906           0 :     mpc_x_heading_(3, 0) = 0;
+     907             : 
+     908           0 :     trajectory_tracking_in_progress_ = false;
+     909             : 
+     910           0 :     timer_trajectory_tracking_.stop();
+     911             : 
+     912           0 :     ROS_INFO("[MpcTracker]: reseted");
+     913             :   }
+     914             : 
+     915             :   // this is here to initialize the desired_trajectory vector
+     916             :   // if deleted (and I tried) the UAV will briefly fly to the
+     917             :   // origin after activation
+     918           0 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     919             : 
+     920           0 :   return true;
+     921             : }
+     922             : 
+     923             : //}
+     924             : 
+     925             : /* //{ update() */
+     926             : 
+     927       38166 : std::optional<mrs_msgs::TrackerCommand> MpcTracker::update(const mrs_msgs::UavState&                                           uav_state,
+     928             :                                                            [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput& last_control_output) {
+     929             : 
+     930      114498 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("update");
+     931      114498 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("MpcTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     932             : 
+     933       76332 :   auto old_uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     934             : 
+     935             :   // calculate dt
+     936       38166 :   double dt = (uav_state.header.stamp - old_uav_state.header.stamp).toSec();
+     937             : 
+     938             :   // save the uav state
+     939       38166 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     940             : 
+     941       38166 :   if (dt > 0) {
+     942             : 
+     943       38166 :     double rate = 1.0 / dt;
+     944             : 
+     945       38166 :     update_rate_ = 0.9 * update_rate_ + 0.1 * rate;
+     946             : 
+     947       38166 :     if (mpc_synchronous_ && (update_rate_ > _mpc_synchronous_rate_limit_)) {
+     948           0 :       mpc_synchronous_ = false;
+     949           0 :       ROS_INFO("[MpcTracker]: detecting high update date (%.1f Hz > %.1f Hz), switching to asynchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     950           0 :       if (is_active_) {
+     951           0 :         timer_mpc_iteration_.start();
+     952             :       }
+     953       38166 :     } else if (!mpc_synchronous_ && (update_rate_ <= _mpc_synchronous_rate_limit_)) {
+     954           8 :       mpc_synchronous_ = true;
+     955           8 :       ROS_INFO("[MpcTracker]: detecting low update rate (%.1f Hz < %.1f Hz), switching to synchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     956           8 :       timer_mpc_iteration_.stop();
+     957             :     }
+     958             :   }
+     959             : 
+     960             :   // up to this part the update() method is evaluated even when the tracker is not active
+     961       38166 :   if (!is_active_) {
+     962       16140 :     return {};
+     963             :   }
+     964             : 
+     965       44052 :   mrs_msgs::TrackerCommand tracker_cmd;
+     966             : 
+     967       22026 :   if (!mpc_synchronous_ && (!mpc_computed_ || mpc_result_invalid_)) {
+     968             : 
+     969          43 :     ROS_WARN_THROTTLE(0.1, "[MpcTracker]: MPC not ready, returning current odom as the command");
+     970             : 
+     971             :     // set the header
+     972          43 :     tracker_cmd.header.stamp    = uav_state.header.stamp;
+     973          43 :     tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     974             : 
+     975             :     // set positions from odom
+     976          43 :     tracker_cmd.position.x              = uav_state.pose.position.x;
+     977          43 :     tracker_cmd.position.y              = uav_state.pose.position.y;
+     978          43 :     tracker_cmd.position.z              = uav_state.pose.position.z;
+     979          43 :     tracker_cmd.use_position_vertical   = 1;
+     980          43 :     tracker_cmd.use_position_horizontal = 1;
+     981             : 
+     982             :     // set velocities from odom
+     983          43 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     984          43 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     985          43 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     986          43 :     tracker_cmd.use_velocity_vertical   = 1;
+     987          43 :     tracker_cmd.use_velocity_horizontal = 1;
+     988             : 
+     989             :     // set zero accelerations
+     990          43 :     tracker_cmd.acceleration.x   = 0;
+     991          43 :     tracker_cmd.acceleration.y   = 0;
+     992          43 :     tracker_cmd.acceleration.z   = 0;
+     993          43 :     tracker_cmd.use_acceleration = 1;
+     994             : 
+     995             :     try {
+     996          43 :       tracker_cmd.heading     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     997          43 :       tracker_cmd.use_heading = 1;
+     998             :     }
+     999           0 :     catch (...) {
+    1000           0 :       tracker_cmd.use_heading = 0;
+    1001           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading");
+    1002             :     }
+    1003             : 
+    1004             :     // set zero jerk
+    1005          43 :     tracker_cmd.jerk.x = 0;
+    1006          43 :     tracker_cmd.jerk.y = 0;
+    1007          43 :     tracker_cmd.jerk.z = 0;
+    1008             : 
+    1009             :     try {
+    1010          43 :       tracker_cmd.heading_rate     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeadingRate(uav_state.velocity.angular);
+    1011          43 :       tracker_cmd.use_heading_rate = 1;
+    1012             :     }
+    1013           0 :     catch (...) {
+    1014           0 :       tracker_cmd.use_heading_rate = 0;
+    1015           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading rate");
+    1016             :     }
+    1017             : 
+    1018          43 :     return {tracker_cmd};
+    1019             :   }
+    1020             : 
+    1021       21983 :   ros::TimerEvent event;
+    1022             : 
+    1023       21983 :   if (mpc_synchronous_) {
+    1024        1133 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in SYNCHRONOUS mode");
+    1025        1133 :     timerMPC(event);
+    1026             :   } else {
+    1027       20850 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in ASYNCHRONOUS mode");
+    1028             :   }
+    1029             : 
+    1030       21983 :   if (dt > 0) {
+    1031       21983 :     iterateModel(dt);
+    1032             :   } else {
+    1033           0 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: dt !> 0, not iterating the model");
+    1034             :   }
+    1035             : 
+    1036       43966 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1037       43966 :   auto prediction_full_state  = mrs_lib::get_mutexed(mutex_prediction_full_state_, prediction_full_state_);
+    1038             : 
+    1039             :   // check whether all outputs are finite
+    1040       21983 :   bool arefinite = true;
+    1041      285779 :   for (int i = 0; i < 12; i++) {
+    1042      263796 :     if (!std::isfinite(mpc_x(i, 0))) {
+    1043           0 :       arefinite = false;
+    1044             :     }
+    1045             :   }
+    1046             : 
+    1047       21983 :   if (arefinite) {
+    1048             : 
+    1049             :     // set the desired states base on the result of the mpc
+    1050       21983 :     tracker_cmd.position.x     = mpc_x(0, 0);
+    1051       21983 :     tracker_cmd.velocity.x     = mpc_x(1, 0);
+    1052       21983 :     tracker_cmd.acceleration.x = mpc_x(2, 0);
+    1053       21983 :     tracker_cmd.jerk.x         = mpc_x(3, 0);
+    1054             : 
+    1055       21983 :     tracker_cmd.position.y     = mpc_x(4, 0);
+    1056       21983 :     tracker_cmd.velocity.y     = mpc_x(5, 0);
+    1057       21983 :     tracker_cmd.acceleration.y = mpc_x(6, 0);
+    1058       21983 :     tracker_cmd.jerk.y         = mpc_x(7, 0);
+    1059             : 
+    1060       21983 :     tracker_cmd.position.z     = mpc_x(8, 0);
+    1061       21983 :     tracker_cmd.velocity.z     = mpc_x(9, 0);
+    1062       21983 :     tracker_cmd.acceleration.z = mpc_x(10, 0);
+    1063       21983 :     tracker_cmd.jerk.z         = mpc_x(11, 0);
+    1064             : 
+    1065       21983 :     tracker_cmd.full_state_prediction = prediction_full_state;
+    1066             : 
+    1067       21983 :     tracker_cmd.use_position_vertical     = 1;
+    1068       21983 :     tracker_cmd.use_position_horizontal   = 1;
+    1069       21983 :     tracker_cmd.use_velocity_vertical     = 1;
+    1070       21983 :     tracker_cmd.use_velocity_horizontal   = 1;
+    1071       21983 :     tracker_cmd.use_acceleration          = 1;
+    1072       21983 :     tracker_cmd.use_jerk                  = 1;
+    1073       21983 :     tracker_cmd.use_full_state_prediction = 1;
+    1074             : 
+    1075             :   } else {
+    1076             : 
+    1077           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC translation outputs are not finite!");
+    1078             : 
+    1079           0 :     return {};
+    1080             :   }
+    1081             : 
+    1082       21983 :   bool heading_finite = true;
+    1083      109915 :   for (int i = 0; i < _mpc_n_states_heading_; i++) {
+    1084       87932 :     if (!std::isfinite(mpc_x_heading(i, 0))) {
+    1085           0 :       heading_finite = false;
+    1086             :     }
+    1087             :   }
+    1088             : 
+    1089       21983 :   if (heading_finite) {
+    1090             : 
+    1091       21983 :     tracker_cmd.heading              = mpc_x_heading(0, 0);
+    1092       21983 :     tracker_cmd.heading_rate         = mpc_x_heading(1, 0);
+    1093       21983 :     tracker_cmd.heading_acceleration = mpc_x_heading(2, 0);
+    1094       21983 :     tracker_cmd.heading_jerk         = mpc_x_heading(3, 0);
+    1095             : 
+    1096       21983 :     tracker_cmd.use_heading              = 1;
+    1097       21983 :     tracker_cmd.use_heading_rate         = 1;
+    1098       21983 :     tracker_cmd.use_heading_acceleration = 1;
+    1099       21983 :     tracker_cmd.use_heading_jerk         = 1;
+    1100             : 
+    1101             :   } else {
+    1102             : 
+    1103           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC heading output is not finite!");
+    1104             : 
+    1105           0 :     return {};
+    1106             :   }
+    1107             : 
+    1108             :   // set the header
+    1109       21983 :   tracker_cmd.header.stamp    = uav_state.header.stamp;
+    1110       21983 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+    1111             : 
+    1112             :   // u have to return a position command
+    1113             :   // can set the jerk to 0
+    1114       21983 :   return {tracker_cmd};
+    1115             : }  // namespace mpc_tracker
+    1116             : 
+    1117             : //}
+    1118             : 
+    1119             : /* //{ getStatus() */
+    1120             : 
+    1121        2152 : const mrs_msgs::TrackerStatus MpcTracker::getStatus() {
+    1122             : 
+    1123        4304 :   auto [mpc_x, mpc_x_heading]  = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1124        2152 :   auto trajectory_size         = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_);
+    1125        2152 :   auto trajectory_tracking_idx = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_tracking_idx_);
+    1126             : 
+    1127             :   double des_x, des_y, des_z, des_heading;
+    1128             :   {
+    1129        2152 :     std::scoped_lock lock(mutex_des_trajectory_);
+    1130             : 
+    1131        2152 :     des_x       = des_x_trajectory_(0);
+    1132        2152 :     des_y       = des_y_trajectory_(0);
+    1133        2152 :     des_z       = des_z_trajectory_(0);
+    1134        2152 :     des_heading = des_heading_trajectory_(0);
+    1135             :   }
+    1136             : 
+    1137        2152 :   mrs_msgs::TrackerStatus tracker_status;
+    1138             : 
+    1139        2152 :   tracker_status.active            = is_active_;
+    1140        2152 :   tracker_status.callbacks_enabled = is_active_ && callbacks_enabled_ && !hovering_in_progress_;
+    1141             : 
+    1142        2152 :   tracker_status.tracking_trajectory = trajectory_tracking_in_progress_;
+    1143             : 
+    1144        2152 :   bool have_position_error   = sqrt(pow(mpc_x(0, 0) - des_x, 2) + pow(mpc_x(4, 0) - des_y, 2) + pow(mpc_x(8, 0) - des_z, 2)) > _diag_pos_tracking_thr_;
+    1145        2152 :   bool have_heading_error    = fabs(radians::diff(mpc_x_heading(0), des_heading)) > _diag_heading_tracking_thr_;
+    1146        2152 :   bool have_nonzero_velocity = fabs(mpc_x(1, 0)) > 0.1 || fabs(mpc_x(5, 0)) > 0.1 || fabs(mpc_x(9, 0)) > 0.1 || fabs(mpc_x_heading(1, 0)) > 0.1;
+    1147             : 
+    1148        2152 :   tracker_status.have_goal = trajectory_tracking_in_progress_ || hovering_in_progress_ || have_position_error || have_heading_error || have_nonzero_velocity;
+    1149             : 
+    1150        2152 :   tracker_status.trajectory_length = trajectory_size;
+    1151        2152 :   tracker_status.trajectory_idx    = trajectory_tracking_idx;
+    1152             : 
+    1153        2152 :   if (trajectory_tracking_in_progress_) {
+    1154             : 
+    1155         160 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1156             : 
+    1157         160 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    1158             : 
+    1159          80 :     tracker_status.trajectory_reference.header.stamp    = ros::Time::now();
+    1160          80 :     tracker_status.trajectory_reference.header.frame_id = uav_state.header.frame_id;
+    1161             : 
+    1162          80 :     tracker_status.trajectory_reference.reference.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1163          80 :     tracker_status.trajectory_reference.reference.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1164          80 :     tracker_status.trajectory_reference.reference.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1165          80 :     tracker_status.trajectory_reference.reference.heading    = (*des_heading_whole_trajectory_)(trajectory_tracking_idx);
+    1166             : 
+    1167             :     // | ---------- publish the current trajectory point ---------- |
+    1168             : 
+    1169         160 :     geometry_msgs::PoseStamped debug_trajectory_point;
+    1170          80 :     debug_trajectory_point.header.stamp    = ros::Time::now();
+    1171          80 :     debug_trajectory_point.header.frame_id = uav_state_.header.frame_id;
+    1172             : 
+    1173          80 :     debug_trajectory_point.pose.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1174          80 :     debug_trajectory_point.pose.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1175          80 :     debug_trajectory_point.pose.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1176             : 
+    1177          80 :     debug_trajectory_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(trajectory_tracking_idx));
+    1178             : 
+    1179          80 :     ph_current_trajectory_point_.publish(debug_trajectory_point);
+    1180             :   }
+    1181             : 
+    1182        4304 :   return tracker_status;
+    1183             : }
+    1184             : 
+    1185             : //}
+    1186             : 
+    1187             : /* //{ enableCallbacks() */
+    1188             : 
+    1189           2 : const std_srvs::SetBoolResponse::ConstPtr MpcTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+    1190             : 
+    1191           4 :   std::stringstream ss;
+    1192             : 
+    1193           2 :   if (cmd->data != callbacks_enabled_) {
+    1194             : 
+    1195           0 :     callbacks_enabled_ = cmd->data;
+    1196           0 :     ss << "callbacks %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1197             : 
+    1198             :   } else {
+    1199             : 
+    1200           2 :     ss << "callbacks were already %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1201             :   }
+    1202             : 
+    1203           4 :   std_srvs::SetBoolResponse res;
+    1204           2 :   res.message = ss.str();
+    1205           2 :   res.success = true;
+    1206             : 
+    1207           4 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+    1208             : }
+    1209             : 
+    1210             : //}
+    1211             : 
+    1212             : /* switchOdometrySource() //{ */
+    1213             : 
+    1214           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::switchOdometrySource(const mrs_msgs::UavState& new_uav_state) {
+    1215             : 
+    1216           0 :   odometry_reset_in_progress_ = true;
+    1217           0 :   mpc_result_invalid_         = true;
+    1218             : 
+    1219           0 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1220           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1221             : 
+    1222           0 :   ROS_INFO(
+    1223             :       "[MpcTracker]: start of odmetry reset, curent state [x: %.2f, y: %.2f, z: %.2f] [x_d: %.2f, y_d: %.2f, z_d: %.2f] [x_dd: %.2f, y_dd: %.2f, z_dd: "
+    1224             :       "%.2f], "
+    1225             :       "new odom [x: %.2f, y: %.2f, z: %.2f] [x_d: %.2f, y_d: %.2f, z_d: %.2f] [x_dd: %.2f, y_dd: %.2f, z_dd: %.2f]",
+    1226             :       x(0, 0), x(4, 0), x(8, 0), x(1, 0), x(5, 0), x(9, 0), x(2, 0), x(6, 0), x(10, 0), new_uav_state.pose.position.x, new_uav_state.pose.position.y,
+    1227             :       new_uav_state.pose.position.z, new_uav_state.velocity.linear.x, new_uav_state.velocity.linear.y, new_uav_state.velocity.linear.z,
+    1228             :       new_uav_state.acceleration.linear.x, new_uav_state.acceleration.linear.y, new_uav_state.acceleration.linear.z);
+    1229             : 
+    1230           0 :   timer_mpc_iteration_.stop();
+    1231           0 :   ROS_INFO("[MpcTracker]: mpc timer stopped");
+    1232             : 
+    1233           0 :   while (mpc_timer_running_) {
+    1234             : 
+    1235           0 :     ROS_DEBUG("[MpcTracker]: the mpc is in the middle of an iteration, waiting for it to finish");
+    1236           0 :     ros::Duration wait(0.001);
+    1237           0 :     wait.sleep();
+    1238             : 
+    1239           0 :     if (!mpc_timer_running_) {
+    1240           0 :       ROS_DEBUG("[ControlManager]: mpc timer finished");
+    1241           0 :       break;
+    1242             :     }
+    1243             :   }
+    1244             : 
+    1245             :   // | --------- recalculate the goal to new coordinates -------- |
+    1246             : 
+    1247           0 :   double old_heading  = 0;
+    1248           0 :   double new_heading  = 0;
+    1249           0 :   bool   got_headings = true;
+    1250             : 
+    1251             :   try {
+    1252           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1253             :   }
+    1254           0 :   catch (...) {
+    1255           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+    1256           0 :     got_headings = false;
+    1257             :   }
+    1258             : 
+    1259             :   try {
+    1260           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+    1261             :   }
+    1262           0 :   catch (...) {
+    1263           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+    1264           0 :     got_headings = false;
+    1265             :   }
+    1266             : 
+    1267           0 :   std_srvs::TriggerResponse res;
+    1268             : 
+    1269           0 :   if (!got_headings) {
+    1270           0 :     res.message = "could not calculate the heading difference";
+    1271           0 :     res.success = false;
+    1272             : 
+    1273           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1274             :   }
+    1275             : 
+    1276             :   // calculate the difference of position
+    1277           0 :   double dx       = new_uav_state.pose.position.x - uav_state_.pose.position.x;
+    1278           0 :   double dy       = new_uav_state.pose.position.y - uav_state_.pose.position.y;
+    1279           0 :   double dz       = new_uav_state.pose.position.z - uav_state_.pose.position.z;
+    1280           0 :   double dheading = new_heading - old_heading;
+    1281             : 
+    1282           0 :   ROS_INFO("[MpcTracker]: dx %f dy %f dz %f dheading %f", dx, dy, dz, dheading);
+    1283             : 
+    1284             :   {
+    1285           0 :     std::scoped_lock lock(mutex_mpc_x_, mutex_des_trajectory_, mutex_des_whole_trajectory_, mutex_uav_state_);
+    1286             : 
+    1287           0 :     if (trajectory_set_) {
+    1288             : 
+    1289           0 :       for (int i = 0; i < trajectory_size_ + _mpc_horizon_len_; i++) {
+    1290             : 
+    1291           0 :         Eigen::Vector2d temp_vec((*des_x_whole_trajectory_)(i)-uav_state_.pose.position.x, (*des_y_whole_trajectory_)(i)-uav_state_.pose.position.y);
+    1292           0 :         temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1293             : 
+    1294           0 :         (*des_x_whole_trajectory_)(i) = new_uav_state.pose.position.x + temp_vec[0];
+    1295           0 :         (*des_y_whole_trajectory_)(i) = new_uav_state.pose.position.y + temp_vec[1];
+    1296           0 :         (*des_z_whole_trajectory_)(i) += dz;
+    1297           0 :         (*des_heading_whole_trajectory_)(i) += dheading;
+    1298             :       }
+    1299             :     }
+    1300             : 
+    1301           0 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1302             : 
+    1303           0 :       Eigen::Vector2d temp_vec(des_x_trajectory_(i) - uav_state_.pose.position.x, des_y_trajectory_(i) - uav_state_.pose.position.y);
+    1304           0 :       temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1305             : 
+    1306           0 :       des_x_trajectory_(i, 0) = new_uav_state.pose.position.x + temp_vec[0];
+    1307           0 :       des_y_trajectory_(i, 0) = new_uav_state.pose.position.y + temp_vec[1];
+    1308           0 :       des_z_trajectory_(i, 0) += dz;
+    1309           0 :       des_heading_trajectory_(i, 0) += dheading;
+    1310             :     }
+    1311             : 
+    1312             :     // update the position
+    1313             :     {
+    1314           0 :       Eigen::Vector2d temp_vec(mpc_x_(0, 0) - uav_state_.pose.position.x, mpc_x_(4, 0) - uav_state_.pose.position.y);
+    1315           0 :       temp_vec     = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1316           0 :       mpc_x_(0, 0) = new_uav_state.pose.position.x + temp_vec[0];
+    1317           0 :       mpc_x_(4, 0) = new_uav_state.pose.position.y + temp_vec[1];
+    1318           0 :       mpc_x_(8, 0) += dz;
+    1319             :     }
+    1320             : 
+    1321             :     // update the velocity
+    1322             :     {
+    1323           0 :       mpc_x_(1, 0) = new_uav_state.velocity.linear.x;
+    1324           0 :       mpc_x_(5, 0) = new_uav_state.velocity.linear.y;
+    1325             :       // we leave the z velocity as it was in the original frame
+    1326             :     }
+    1327             : 
+    1328             :     // update the acceleration
+    1329             :     {
+    1330           0 :       mpc_x_(2, 0)  = 0;
+    1331           0 :       mpc_x_(6, 0)  = 0;
+    1332           0 :       mpc_x_(10, 0) = 0;
+    1333             :     }
+    1334             : 
+    1335             :     // update the heading and its derivative
+    1336           0 :     mpc_x_heading_(0, 0) += dheading;
+    1337           0 :     mpc_x_heading_(1, 0) = new_uav_state.velocity.angular.x;
+    1338             :   }
+    1339             : 
+    1340           0 :   ROS_INFO(
+    1341             :       "[MpcTracker]: start of odmetry reset, curent state [x: %.2f, y: %.2f, z: %.2f] [x_d: %.2f, y_d: %.2f, z_d: %.2f] [x_dd: %.2f, y_dd: %.2f, z_dd: "
+    1342             :       "%.2f]",
+    1343             :       x(0, 0), x(4, 0), x(8, 0), x(1, 0), x(5, 0), x(9, 0), x(2, 0), x(6, 0), x(10, 0));
+    1344             : 
+    1345           0 :   ROS_INFO("[MpcTracker]: starting the MPC timer");
+    1346             : 
+    1347           0 :   if (!mpc_synchronous_) {
+    1348           0 :     timer_mpc_iteration_.start();
+    1349             :   }
+    1350             : 
+    1351           0 :   odometry_reset_in_progress_ = false;
+    1352             : 
+    1353           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1354             : }
+    1355             : 
+    1356             : //}
+    1357             : 
+    1358             : /* //{ hover() */
+    1359             : 
+    1360           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1361             : 
+    1362           0 :   toggleHover(true);
+    1363             : 
+    1364           0 :   std::stringstream ss;
+    1365           0 :   ss << "initiating hover";
+    1366             : 
+    1367           0 :   std_srvs::TriggerResponse res;
+    1368           0 :   res.success = true;
+    1369           0 :   res.message = ss.str();
+    1370             : 
+    1371           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1372             : }
+    1373             : 
+    1374             : //}
+    1375             : 
+    1376             : /* //{ startTrajectoryTracking() */
+    1377             : 
+    1378           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1379           0 :   std::stringstream ss;
+    1380             : 
+    1381           0 :   auto [success, message] = startTrajectoryTrackingImpl();
+    1382             : 
+    1383           0 :   std_srvs::TriggerResponse res;
+    1384           0 :   res.success = success;
+    1385           0 :   res.message = message;
+    1386             : 
+    1387           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1388             : }
+    1389             : 
+    1390             : //}
+    1391             : 
+    1392             : /* //{ stopTrajectoryTracking() */
+    1393             : 
+    1394           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1395             : 
+    1396           0 :   auto [success, message] = stopTrajectoryTrackingImpl();
+    1397             : 
+    1398           0 :   std_srvs::TriggerResponse res;
+    1399           0 :   res.success = success;
+    1400           0 :   res.message = message;
+    1401             : 
+    1402           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1403             : }
+    1404             : 
+    1405             : //}
+    1406             : 
+    1407             : /* //{ resumeTrajectoryTracking() */
+    1408             : 
+    1409           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1410             : 
+    1411           0 :   auto [success, message] = resumeTrajectoryTrackingImpl();
+    1412             : 
+    1413           0 :   std_srvs::TriggerResponse res;
+    1414           0 :   res.success = success;
+    1415           0 :   res.message = message;
+    1416             : 
+    1417           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1418             : }
+    1419             : 
+    1420             : //}
+    1421             : 
+    1422             : /* //{ gotoTrajectoryStart() */
+    1423             : 
+    1424           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1425             : 
+    1426           0 :   auto [success, message] = gotoTrajectoryStartImpl();
+    1427             : 
+    1428           0 :   std_srvs::TriggerResponse res;
+    1429           0 :   res.success = success;
+    1430           0 :   res.message = message;
+    1431             : 
+    1432           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1433             : }
+    1434             : 
+    1435             : //}
+    1436             : 
+    1437             : /* //{ setConstraints() */
+    1438             : 
+    1439         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+    1440             : 
+    1441         147 :   if (!is_initialized_) {
+    1442           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+    1443             :   }
+    1444             : 
+    1445         147 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+    1446             : 
+    1447             :   // directly updated the speeds in the constraints
+    1448             :   // the reset needs to wait for manageConstraints()
+    1449             :   {
+    1450         294 :     std::scoped_lock lock(mutex_constraints_filtered_);
+    1451             : 
+    1452             :     // important! this needs to be done to initialize the full struct
+    1453         147 :     if (!got_constraints_) {
+    1454             : 
+    1455          47 :       constraints_filtered_ = constraints->constraints;
+    1456             : 
+    1457             :     } else {
+    1458             : 
+    1459         100 :       constraints_filtered_.horizontal_speed          = constraints->constraints.horizontal_speed;
+    1460         100 :       constraints_filtered_.vertical_ascending_speed  = constraints->constraints.vertical_ascending_speed;
+    1461         100 :       constraints_filtered_.vertical_descending_speed = constraints->constraints.vertical_descending_speed;
+    1462         100 :       constraints_filtered_.heading_speed             = constraints->constraints.heading_speed;
+    1463             :     }
+    1464             :   }
+    1465             : 
+    1466         147 :   got_constraints_ = true;
+    1467             : 
+    1468         147 :   all_constraints_set_ = false;
+    1469             : 
+    1470         147 :   ROS_INFO("[MpcTracker]: updating constraints");
+    1471             : 
+    1472         294 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+    1473         147 :   res.success = true;
+    1474         147 :   res.message = "constraints updated";
+    1475             : 
+    1476         147 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+    1477             : }
+    1478             : 
+    1479             : //}
+    1480             : 
+    1481             : /* //{ setReference() */
+    1482             : 
+    1483          29 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MpcTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+    1484             : 
+    1485          29 :   toggleHover(false);
+    1486             : 
+    1487          29 :   setGoal(cmd->reference.position.x, cmd->reference.position.y, cmd->reference.position.z, cmd->reference.heading, true);
+    1488             : 
+    1489          58 :   mrs_msgs::ReferenceSrvResponse res;
+    1490          29 :   res.success = true;
+    1491          29 :   res.message = "reference set";
+    1492             : 
+    1493          58 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+    1494             : }
+    1495             : 
+    1496             : //}
+    1497             : 
+    1498             : /* //{ setVelocityReference() */
+    1499             : 
+    1500           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MpcTracker::setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+    1501             : 
+    1502           0 :   if (!is_initialized_) {
+    1503           0 :     return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+    1504             :   }
+    1505             : 
+    1506             :   {
+    1507           0 :     std::scoped_lock lock(mutex_velocity_reference_);
+    1508             : 
+    1509           0 :     velocity_reference_time_ = ros::Time::now();
+    1510             : 
+    1511           0 :     velocity_reference_ = cmd->reference;
+    1512             :   }
+    1513             : 
+    1514           0 :   if (!velocity_tracking_active_) {
+    1515             : 
+    1516           0 :     ROS_INFO("[MpcTracker]: starting velocity tracking timer");
+    1517             : 
+    1518           0 :     timer_velocity_tracking_.stop();
+    1519           0 :     timer_velocity_tracking_.start();
+    1520             : 
+    1521           0 :     velocity_tracking_active_ = true;
+    1522             :   }
+    1523             : 
+    1524           0 :   mrs_msgs::VelocityReferenceSrvResponse response;
+    1525           0 :   response.success = true;
+    1526           0 :   response.message = "reference set";
+    1527             : 
+    1528           0 :   return mrs_msgs::VelocityReferenceSrvResponse::ConstPtr(new mrs_msgs::VelocityReferenceSrvResponse(response));
+    1529             : }
+    1530             : 
+    1531             : //}
+    1532             : 
+    1533             : /* //{ setTrajectoryReference() */
+    1534             : 
+    1535           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MpcTracker::setTrajectoryReference([
+    1536             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+    1537             : 
+    1538           2 :   std::stringstream ss;
+    1539             : 
+    1540           3 :   auto [success, message, modified] = loadTrajectory(cmd->trajectory);
+    1541             : 
+    1542           2 :   mrs_msgs::TrajectoryReferenceSrvResponse response;
+    1543           1 :   response.success  = success;
+    1544           1 :   response.message  = message;
+    1545           1 :   response.modified = modified;
+    1546             : 
+    1547           2 :   return mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr(new mrs_msgs::TrajectoryReferenceSrvResponse(response));
+    1548             : }
+    1549             : 
+    1550             : //}
+    1551             : 
+    1552             : // | ------------------------ callbacks ----------------------- |
+    1553             : 
+    1554             : /* //{ callbackOtherMavTrajectory() */
+    1555             : 
+    1556           0 : void MpcTracker::callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg) {
+    1557             : 
+    1558           0 :   if (!is_initialized_) {
+    1559           0 :     return;
+    1560             :   }
+    1561             : 
+    1562           0 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavTrajectory");
+    1563             :   mrs_lib::ScopeTimer timer =
+    1564           0 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1565             : 
+    1566           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1567             : 
+    1568           0 :   mrs_msgs::FutureTrajectory trajectory = *msg;
+    1569             : 
+    1570             :   // the times might not be synchronized, so just remember the time of receiving it
+    1571           0 :   trajectory.stamp = ros::Time::now();
+    1572             : 
+    1573             :   // transform it from the utm origin to the currently used frame
+    1574           0 :   auto res = common_handlers_->transformer->getTransform("utm_origin", uav_state.header.frame_id, ros::Time::now());
+    1575             : 
+    1576           0 :   if (!res) {
+    1577             : 
+    1578           0 :     std::string message = "[MpcTracker]: can not transform other drone trajectory to the current frame";
+    1579           0 :     ROS_WARN_STREAM_ONCE(message);
+    1580           0 :     ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1581             : 
+    1582           0 :     return;
+    1583             :   }
+    1584             : 
+    1585           0 :   geometry_msgs::TransformStamped tf = res.value();
+    1586             : 
+    1587           0 :   for (int i = 0; i < int(trajectory.points.size()); i++) {
+    1588             : 
+    1589           0 :     geometry_msgs::PoseStamped original_pose;
+    1590             : 
+    1591           0 :     original_pose.pose.position.x = trajectory.points[i].x;
+    1592           0 :     original_pose.pose.position.y = trajectory.points[i].y;
+    1593           0 :     original_pose.pose.position.z = trajectory.points[i].z;
+    1594             : 
+    1595           0 :     original_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1596             : 
+    1597           0 :     auto res = common_handlers_->transformer->transform(original_pose, tf);
+    1598             : 
+    1599           0 :     if (res) {
+    1600           0 :       trajectory.points[i].x = res.value().pose.position.x;
+    1601           0 :       trajectory.points[i].y = res.value().pose.position.y;
+    1602           0 :       trajectory.points[i].z = res.value().pose.position.z;
+    1603             :     } else {
+    1604             : 
+    1605           0 :       std::string message = "[MpcTracker]: could not transform point of other uav future trajectory!";
+    1606           0 :       ROS_WARN_STREAM_ONCE(message);
+    1607           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1608             : 
+    1609           0 :       return;
+    1610             :     }
+    1611             :   }
+    1612             : 
+    1613             :   {
+    1614           0 :     std::scoped_lock lock(mutex_other_uav_avoidance_trajectories_);
+    1615             : 
+    1616             :     // update the diagnostics
+    1617           0 :     other_uav_avoidance_trajectories_[trajectory.uav_name] = trajectory;
+    1618             :   }
+    1619             : }
+    1620             : 
+    1621             : //}
+    1622             : 
+    1623             : /* //{ callbackOtherMavDiagnostics() */
+    1624             : 
+    1625           0 : void MpcTracker::callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg) {
+    1626             : 
+    1627           0 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavDiagnostics");
+    1628             :   mrs_lib::ScopeTimer timer =
+    1629           0 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1630             : 
+    1631           0 :   std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    1632             : 
+    1633           0 :   mrs_msgs::MpcTrackerDiagnostics diagnostics = *msg;
+    1634             : 
+    1635             :   // fill in the current time
+    1636             :   // the other uav's time might not be synchronized with ours
+    1637           0 :   diagnostics.header.stamp = ros::Time::now();
+    1638             : 
+    1639             :   // update the diagnostics
+    1640           0 :   other_uav_diagnostics_[diagnostics.uav_name] = diagnostics;
+    1641           0 : }
+    1642             : 
+    1643             : //}
+    1644             : 
+    1645             : /* //{ callbackToggleCollisionAvoidance() */
+    1646             : 
+    1647           0 : bool MpcTracker::callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1648             : 
+    1649           0 :   collision_avoidance_enabled_ = req.data;
+    1650             : 
+    1651           0 :   ROS_INFO("[MpcTracker]: Collision avoidance was switched %s", collision_avoidance_enabled_ ? "TRUE" : "FALSE");
+    1652             : 
+    1653           0 :   res.message = "Collision avoidance set.";
+    1654           0 :   res.success = true;
+    1655             : 
+    1656           0 :   return true;
+    1657             : }
+    1658             : 
+    1659             : //}
+    1660             : 
+    1661             : /* callbackWiggle() //{ */
+    1662             : 
+    1663           0 : bool MpcTracker::callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1664             : 
+    1665           0 :   if (!is_initialized_) {
+    1666             : 
+    1667           0 :     res.success = false;
+    1668           0 :     res.message = "tracker not active";
+    1669           0 :     return true;
+    1670             :   }
+    1671             : 
+    1672             :   {
+    1673           0 :     std::scoped_lock lock(mutex_drs_params_);
+    1674             : 
+    1675           0 :     drs_params_.wiggle_enabled = req.data;
+    1676             : 
+    1677           0 :     reconfigure_server_->updateConfig(drs_params_);
+    1678             :   }
+    1679             : 
+    1680           0 :   res.success = true;
+    1681           0 :   res.message = "wiggle updated";
+    1682             : 
+    1683           0 :   return true;
+    1684             : }
+    1685             : 
+    1686             : //}
+    1687             : 
+    1688             : /* //{ dynamicReconfigureCallback() */
+    1689             : 
+    1690          47 : void MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, [[maybe_unused]] uint32_t level) {
+    1691             : 
+    1692          94 :   std::scoped_lock lock(mutex_drs_params_);
+    1693             : 
+    1694          47 :   drs_params_ = config;
+    1695             : 
+    1696          47 :   ROS_INFO("[MpcTracker]: DRS updated");
+    1697          47 : }
+    1698             : 
+    1699             : //}
+    1700             : 
+    1701             : // --------------------------------------------------------------
+    1702             : // |                          routines                          |
+    1703             : // --------------------------------------------------------------
+    1704             : 
+    1705             : // | --------------- mutual collision avoidance --------------- |
+    1706             : 
+    1707             : /* //{ checkCollision() */
+    1708             : 
+    1709           0 : bool MpcTracker::checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1710             : 
+    1711           0 :   if (mrs_lib::geometry::dist(vec2_t(ax, ay), vec2_t(bx, by)) < _avoidance_radius_threshold_ && fabs(az - bz) < _avoidance_z_threshold_) {
+    1712             : 
+    1713           0 :     return true;
+    1714             : 
+    1715             :   } else {
+    1716             : 
+    1717           0 :     return false;
+    1718             :   }
+    1719             : }
+    1720             : 
+    1721             : //}
+    1722             : 
+    1723             : /* //{ checkCollisionInflated() */
+    1724             : 
+    1725           0 : bool MpcTracker::checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1726             : 
+    1727           0 :   if (mrs_lib::geometry::dist(vec2_t(ax, ay), vec2_t(bx, by)) < _avoidance_radius_threshold_ + 1.0 && fabs(az - bz) < _avoidance_z_threshold_ + 1.0) {
+    1728             : 
+    1729           0 :     return true;
+    1730             : 
+    1731             :   } else {
+    1732             : 
+    1733           0 :     return false;
+    1734             :   }
+    1735             : }
+    1736             : 
+    1737             : //}
+    1738             : 
+    1739             : /* //{ checkTrajectoryForCollisions() */
+    1740             : 
+    1741             : // Check for potential collisions and return the needed altitude offset to avoid other drones
+    1742       20913 : double MpcTracker::checkTrajectoryForCollisions(int& first_collision_index) {
+    1743             : 
+    1744       20913 :   std::scoped_lock lock(mutex_predicted_trajectory_, mutex_des_trajectory_, mutex_other_uav_avoidance_trajectories_);
+    1745             : 
+    1746       20913 :   first_collision_index = INT_MAX;
+    1747       20913 :   avoiding_collision_   = false;
+    1748             : 
+    1749       20913 :   std::map<std::string, mrs_msgs::FutureTrajectory>::iterator u = other_uav_avoidance_trajectories_.begin();
+    1750             : 
+    1751       20913 :   while (u != other_uav_avoidance_trajectories_.end()) {
+    1752             : 
+    1753             :     // is the other's trajectory fresh enought?
+    1754           0 :     if ((ros::Time::now() - u->second.stamp).toSec() < _collision_trajectory_timeout_) {
+    1755             : 
+    1756           0 :       for (int v = 0; v < _mpc_horizon_len_; v++) {
+    1757             : 
+    1758             :         // check all points of the trajectory for possible collisions
+    1759           0 :         if (checkCollision(predicted_trajectory_(v * _mpc_n_states_, 0), predicted_trajectory_(v * _mpc_n_states_ + 4, 0),
+    1760           0 :                            predicted_trajectory_(v * _mpc_n_states_ + 8, 0), u->second.points[v].x, u->second.points[v].y, u->second.points[v].z)) {
+    1761             : 
+    1762             :           // collision is detected
+    1763           0 :           int other_uav_priority = INT_MAX;
+    1764             :           // get the priority of the other uav
+    1765             :           /* sscanf(u->first.c_str(), "uav%d", &other_uav_priority); */
+    1766           0 :           other_uav_priority = u->second.priority;
+    1767             : 
+    1768             :           // check if we should be avoiding (out priority is higher, or the other uav has collision avoidance turned off)
+    1769           0 :           if ((u->second.collision_avoidance == false) || (other_uav_priority < avoidance_this_uav_priority_)) {
+    1770             : 
+    1771             :             // we should be avoiding
+    1772           0 :             avoiding_collision_      = true;
+    1773           0 :             double tmp_safe_altitude = u->second.points[v].z + _avoidance_z_correction_;
+    1774             : 
+    1775           0 :             if (tmp_safe_altitude > collision_free_altitude_ && v <= _avoidance_collision_start_climbing_) {
+    1776           0 :               collision_free_altitude_ = tmp_safe_altitude;
+    1777             :             }
+    1778             : 
+    1779           0 :             ROS_ERROR_STREAM_THROTTLE(1, "[MpcTracker]: avoiding collision with uav" << other_uav_priority);
+    1780             : 
+    1781             :           } else {
+    1782             :             // the other uav should avoid us
+    1783           0 :             ROS_WARN_STREAM_THROTTLE(1, "[MpcTracker]: detected collision with uav" << other_uav_priority << ", not avoiding (my priority is higher)");
+    1784             :           }
+    1785             :         }
+    1786             : 
+    1787           0 :         if (checkCollisionInflated(predicted_trajectory_(v * _mpc_n_states_, 0), predicted_trajectory_(v * _mpc_n_states_ + 4, 0),
+    1788           0 :                                    predicted_trajectory_(v * _mpc_n_states_ + 8, 0), u->second.points[v].x, u->second.points[v].y, u->second.points[v].z)) {
+    1789             : 
+    1790             :           // collision is detected
+    1791           0 :           if (first_collision_index > v) {
+    1792           0 :             first_collision_index = v;
+    1793             :           }
+    1794             :         }
+    1795             :       }
+    1796             :     }
+    1797           0 :     u++;
+    1798             :   }
+    1799       20913 :   if (!avoiding_collision_) {
+    1800             : 
+    1801       20913 :     auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1802             : 
+    1803             :     // we are not avoiding any collisions, so we slowly reduce the collision avoidance offset to return to normal flight
+    1804       20913 :     collision_free_altitude_ -= 2.0 / (1.0 / dt1);
+    1805             : 
+    1806       20913 :     double safety_area_min_z = common_handlers_->safety_area.getMinZ("");
+    1807             : 
+    1808       20913 :     if (collision_free_altitude_ < safety_area_min_z) {
+    1809             : 
+    1810       20913 :       collision_free_altitude_ = safety_area_min_z;
+    1811             :     }
+    1812             :   }
+    1813             : 
+    1814       41826 :   return collision_free_altitude_;
+    1815             : }
+    1816             : 
+    1817             : //}
+    1818             : 
+    1819             : // | ------------------ trajectory filtering ------------------ |
+    1820             : 
+    1821             : /* //{ filterReferenceXY() */
+    1822             : 
+    1823       22861 : std::tuple<MatrixXd, MatrixXd> MpcTracker::filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x,
+    1824             :                                                              double max_speed_y) {
+    1825             : 
+    1826       22861 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1827             : 
+    1828       45722 :   auto mpc_x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1829       22861 :   auto trajectory_dt = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_dt_);
+    1830             : 
+    1831       45722 :   MatrixXd filtered_x_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1832       45722 :   MatrixXd filtered_y_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1833             : 
+    1834             :   double difference_x;
+    1835             :   double difference_y;
+    1836             :   double max_sample_x;
+    1837             :   double max_sample_y;
+    1838             : 
+    1839      937301 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1840             : 
+    1841      914440 :     if (i == 0) {
+    1842       22861 :       max_sample_x = max_speed_x * dt1;
+    1843       22861 :       max_sample_y = max_speed_y * dt1;
+    1844       22861 :       difference_x = des_x_trajectory(i, 0) - mpc_x(0, 0);
+    1845       22861 :       difference_y = des_y_trajectory(i, 0) - mpc_x(4, 0);
+    1846             :     } else {
+    1847      891579 :       max_sample_x = max_speed_x * _dt2_;
+    1848      891579 :       max_sample_y = max_speed_y * _dt2_;
+    1849      891579 :       difference_x = des_x_trajectory(i, 0) - filtered_x_trajectory(i - 1, 0);
+    1850      891579 :       difference_y = des_y_trajectory(i, 0) - filtered_y_trajectory(i - 1, 0);
+    1851             :     }
+    1852             : 
+    1853      914440 :     if (!trajectory_tracking_in_progress_) {
+    1854             : 
+    1855      885200 :       double direction_angle  = atan2(difference_y, difference_x);
+    1856      885200 :       double max_dir_sample_x = abs(max_sample_x * cos(direction_angle));
+    1857      885200 :       double max_dir_sample_y = abs(max_sample_y * sin(direction_angle));
+    1858             : 
+    1859      885200 :       if (max_sample_x > max_dir_sample_x) {
+    1860      176141 :         max_sample_x = max_dir_sample_x;
+    1861             :       }
+    1862      885200 :       if (max_sample_y > max_dir_sample_y) {
+    1863      885194 :         max_sample_y = max_dir_sample_y;
+    1864             :       }
+    1865             : 
+    1866             :       // saturate the difference
+    1867      885200 :       if (difference_x > max_sample_x)
+    1868       38173 :         difference_x = max_sample_x;
+    1869      847027 :       else if (difference_x < -max_sample_x)
+    1870      160963 :         difference_x = -max_sample_x;
+    1871             : 
+    1872      885200 :       if (difference_y > max_sample_y)
+    1873           0 :         difference_y = max_sample_y;
+    1874      885200 :       else if (difference_y < -max_sample_y)
+    1875      160963 :         difference_y = -max_sample_y;
+    1876             :     }
+    1877             : 
+    1878      914440 :     if (i == 0) {
+    1879       22861 :       filtered_x_trajectory(i, 0) = mpc_x(0, 0) + difference_x;
+    1880       22861 :       filtered_y_trajectory(i, 0) = mpc_x(4, 0) + difference_y;
+    1881             :     } else {
+    1882      891579 :       filtered_x_trajectory(i, 0) = filtered_x_trajectory(i - 1, 0) + difference_x;
+    1883      891579 :       filtered_y_trajectory(i, 0) = filtered_y_trajectory(i - 1, 0) + difference_y;
+    1884             :     }
+    1885             :   }
+    1886             : 
+    1887             :   // | ----------------------- add wiggle ----------------------- |
+    1888             : 
+    1889       22861 :   auto [wiggle_enabled, wiggle_amplitude, wiggle_frequency_] =
+    1890       22861 :       mrs_lib::get_mutexed(mutex_drs_params_, drs_params_.wiggle_enabled, drs_params_.wiggle_amplitude, drs_params_.wiggle_frequency);
+    1891             : 
+    1892       22861 :   if (wiggle_enabled) {
+    1893             : 
+    1894           0 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1895           0 :       filtered_x_trajectory(i, 0) += wiggle_amplitude * cos(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1896           0 :       filtered_y_trajectory(i, 0) += wiggle_amplitude * sin(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1897             :     }
+    1898             : 
+    1899           0 :     wiggle_phase_ += wiggle_frequency_ * dt1 * 2 * M_PI;
+    1900             : 
+    1901           0 :     if (wiggle_phase_ > M_PI) {
+    1902           0 :       wiggle_phase_ -= 2 * M_PI;
+    1903             :     }
+    1904             :   }
+    1905             : 
+    1906       45722 :   return std::make_tuple(filtered_x_trajectory, filtered_y_trajectory);
+    1907             : }
+    1908             : 
+    1909             : //}
+    1910             : 
+    1911             : /* //{ filterReferenceZ() */
+    1912             : 
+    1913       22861 : MatrixXd MpcTracker::filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed) {
+    1914             : 
+    1915       45722 :   auto mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1916             : 
+    1917       22861 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1918             : 
+    1919             :   double difference_z;
+    1920             :   double max_sample_z;
+    1921             : 
+    1922       22861 :   MatrixXd filtered_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1923             : 
+    1924       22861 :   double current_z = mpc_x(8, 0);
+    1925             : 
+    1926      937301 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1927             : 
+    1928      914440 :     if (i == 0) {
+    1929             : 
+    1930       22861 :       difference_z = des_z_trajectory(i, 0) - current_z;
+    1931             : 
+    1932       22861 :       if (difference_z > 0) {
+    1933       12139 :         max_sample_z = max_ascending_speed * dt1;
+    1934             :       } else {
+    1935       10722 :         max_sample_z = max_descending_speed * dt1;
+    1936             :       }
+    1937             : 
+    1938             :     } else {
+    1939             : 
+    1940      891579 :       difference_z = des_z_trajectory(i, 0) - filtered_trajectory(i - 1, 0);
+    1941             : 
+    1942      891579 :       if (difference_z > 0) {
+    1943       52310 :         max_sample_z = max_ascending_speed * _dt2_;
+    1944             :       } else {
+    1945      839269 :         max_sample_z = max_descending_speed * _dt2_;
+    1946             :       }
+    1947             :     }
+    1948             : 
+    1949      914440 :     if (!trajectory_tracking_in_progress_) {
+    1950             : 
+    1951             :       // saturate the difference
+    1952      885200 :       if (difference_z > max_sample_z)
+    1953       37798 :         difference_z = max_sample_z;
+    1954      847402 :       else if (difference_z < -max_sample_z)
+    1955        3590 :         difference_z = -max_sample_z;
+    1956             :     }
+    1957             : 
+    1958      914440 :     if (i == 0) {
+    1959       22861 :       filtered_trajectory(i, 0) = current_z + difference_z;
+    1960             :     } else {
+    1961      891579 :       filtered_trajectory(i, 0) = filtered_trajectory(i - 1, 0) + difference_z;
+    1962             :     }
+    1963             :   }
+    1964             : 
+    1965       45722 :   return filtered_trajectory;
+    1966             : }
+    1967             : 
+    1968             : //}
+    1969             : 
+    1970             : /* //{ manageConstraints() */
+    1971             : 
+    1972       22861 : void MpcTracker::manageConstraints() {
+    1973             : 
+    1974       22861 :   if (!got_constraints_) {
+    1975       22790 :     return;
+    1976             :   }
+    1977             : 
+    1978       22861 :   if (all_constraints_set_) {
+    1979       22790 :     return;
+    1980             :   }
+    1981             : 
+    1982          71 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1983         142 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1984             : 
+    1985         142 :   bool can_change = (fabs(mpc_x(1, 0)) < constraints.horizontal_speed) && (fabs(mpc_x(2, 0)) < constraints.horizontal_acceleration) &&
+    1986          71 :                     (fabs(mpc_x(3, 0)) < constraints.horizontal_jerk) && (fabs(mpc_x(5, 0)) < constraints.horizontal_speed) &&
+    1987          71 :                     (fabs(mpc_x(6, 0)) < constraints.horizontal_acceleration) && (fabs(mpc_x(7, 0)) < constraints.horizontal_jerk) &&
+    1988          71 :                     (mpc_x(9, 0) < constraints.vertical_ascending_speed) && (mpc_x(9, 0) > -constraints.vertical_descending_speed) &&
+    1989          71 :                     (mpc_x(10, 0) < constraints.vertical_ascending_acceleration) && (mpc_x(10, 0) > -constraints.vertical_descending_acceleration) &&
+    1990          71 :                     (mpc_x(11, 0) < constraints.vertical_ascending_jerk) && (mpc_x(11, 0) > -constraints.vertical_descending_jerk) &&
+    1991         213 :                     (fabs(mpc_x_heading(1, 0)) < constraints.heading_speed) && (fabs(mpc_x_heading(2, 0)) < constraints.heading_acceleration) &&
+    1992          71 :                     (fabs(mpc_x_heading(3, 0)) < constraints.heading_jerk);
+    1993             : 
+    1994          71 :   if (can_change) {
+    1995             : 
+    1996             :     {
+    1997          71 :       std::scoped_lock lock(mutex_constraints_filtered_);
+    1998             : 
+    1999          71 :       constraints_filtered_.horizontal_acceleration = constraints.horizontal_acceleration;
+    2000          71 :       constraints_filtered_.horizontal_jerk         = constraints.horizontal_jerk;
+    2001          71 :       constraints_filtered_.horizontal_snap         = constraints.horizontal_snap;
+    2002             : 
+    2003          71 :       constraints_filtered_.vertical_ascending_acceleration = constraints.vertical_ascending_acceleration;
+    2004          71 :       constraints_filtered_.vertical_ascending_jerk         = constraints.vertical_ascending_jerk;
+    2005          71 :       constraints_filtered_.vertical_ascending_snap         = constraints.vertical_ascending_snap;
+    2006             : 
+    2007          71 :       constraints_filtered_.vertical_descending_acceleration = constraints.vertical_descending_acceleration;
+    2008          71 :       constraints_filtered_.vertical_descending_jerk         = constraints.vertical_descending_jerk;
+    2009          71 :       constraints_filtered_.vertical_descending_snap         = constraints.vertical_descending_snap;
+    2010             : 
+    2011          71 :       constraints_filtered_.heading_acceleration = constraints.heading_acceleration;
+    2012          71 :       constraints_filtered_.heading_jerk         = constraints.heading_jerk;
+    2013          71 :       constraints_filtered_.heading_snap         = constraints.heading_snap;
+    2014             :     }
+    2015             : 
+    2016          71 :     ROS_INFO_THROTTLE(1.0, "[MpcTracker]: all constraints succesfully applied");
+    2017          71 :     all_constraints_set_ = true;
+    2018             : 
+    2019             :   } else {
+    2020           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: slowing down to apply new constraints");
+    2021             :   }
+    2022             : }
+    2023             : 
+    2024             : //}
+    2025             : 
+    2026             : /* //{ calculateMPC() */
+    2027             : 
+    2028       22861 : void MpcTracker::calculateMPC() {
+    2029             : 
+    2030       22861 :   std::scoped_lock lock(mutex_mpc_calculation_);
+    2031             : 
+    2032       22861 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2033             : 
+    2034       22861 :   ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: MPC calculation dt = " << dt1);
+    2035             : 
+    2036       22861 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_filtered_, constraints_filtered_);
+    2037       22861 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2038       22861 :   auto uav_state              = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2039       22861 :   auto drs_params             = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    2040             : 
+    2041       22861 :   MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    2042             :   {
+    2043       45722 :     std::scoped_lock lock(mutex_des_trajectory_);
+    2044             : 
+    2045       22861 :     des_x_trajectory       = des_x_trajectory_;
+    2046       22861 :     des_y_trajectory       = des_y_trajectory_;
+    2047       22861 :     des_z_trajectory       = des_z_trajectory_;
+    2048       22861 :     des_heading_trajectory = des_heading_trajectory_;
+    2049             :   }
+    2050             : 
+    2051       22861 :   int    first_collision_index = INT_MAX;
+    2052       22861 :   double lowest_z              = std::numeric_limits<double>::max();
+    2053             : 
+    2054       22861 :   if (collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    2055             : 
+    2056             :     // determine the lowest point in our trajectory
+    2057      857433 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2058      836520 :       if (des_z_trajectory_(i, 0) < lowest_z) {
+    2059       20915 :         lowest_z = des_z_trajectory_(i, 0);
+    2060             :       }
+    2061             :     }
+    2062             : 
+    2063             :     // check other drone trajectories for collisions
+    2064       20913 :     minimum_collison_free_altitude_ = checkTrajectoryForCollisions(first_collision_index);
+    2065             : 
+    2066             :   } else {
+    2067             : 
+    2068        1948 :     minimum_collison_free_altitude_ = common_handlers_->safety_area.getMinZ("");
+    2069             :   }
+    2070             : 
+    2071       22861 :   double max_speed_x = constraints.horizontal_speed;
+    2072       22861 :   double max_speed_y = constraints.horizontal_speed;
+    2073       22861 :   double max_speed_z = constraints.vertical_ascending_speed;
+    2074       22861 :   double min_speed_z = constraints.vertical_descending_speed;
+    2075             : 
+    2076       22861 :   double max_acc_x = constraints.horizontal_acceleration;
+    2077       22861 :   double max_acc_y = constraints.horizontal_acceleration;
+    2078       22861 :   double max_acc_z = constraints.vertical_ascending_acceleration;
+    2079       22861 :   double min_acc_z = constraints.vertical_descending_acceleration;
+    2080             : 
+    2081       22861 :   double max_snap_x = constraints.horizontal_snap;
+    2082       22861 :   double max_snap_y = constraints.horizontal_snap;
+    2083       22861 :   double max_snap_z = constraints.vertical_ascending_snap;
+    2084       22861 :   double min_snap_z = constraints.vertical_descending_snap;
+    2085             : 
+    2086       22861 :   double max_jerk_x = constraints.horizontal_jerk;
+    2087       22861 :   double max_jerk_y = constraints.horizontal_jerk;
+    2088       22861 :   double max_jerk_z = constraints.vertical_ascending_jerk;
+    2089       22861 :   double min_jerk_z = constraints.vertical_descending_jerk;
+    2090             : 
+    2091       22861 :   collision_avoidance_affecting_me_ = false;
+    2092             : 
+    2093       22861 :   if (first_collision_index < _mpc_horizon_len_) {
+    2094             : 
+    2095           0 :     collision_avoidance_affecting_me_ = true;
+    2096             :     // the tmp variable is used to scale the speed of our drone in collision avoidance, depending on how far away the collision is
+    2097           0 :     double tmp = 0;
+    2098             : 
+    2099           0 :     if (first_collision_index <= _avoidance_collision_slow_down_fully_) {
+    2100           0 :       tmp = 1;
+    2101           0 :     } else if (first_collision_index <= _avoidance_collision_slow_down_) {
+    2102           0 :       tmp = 1.0 - ((double)(first_collision_index - _avoidance_collision_slow_down_fully_)) /
+    2103           0 :                       (double)(_avoidance_collision_slow_down_ - _avoidance_collision_slow_down_fully_);
+    2104           0 :       tmp = tmp * tmp;
+    2105             :     }
+    2106             : 
+    2107           0 :     if (!std::isfinite(tmp)) {
+    2108           0 :       tmp = 1.0;
+    2109           0 :       ROS_ERROR("[MpcTracker]: NaN detected in variable 'tmp', setting it to 1.0 and returning!!!");
+    2110           0 :       return;
+    2111           0 :     } else if (tmp > 1.0) {
+    2112           0 :       tmp = 1.0;
+    2113           0 :     } else if (tmp < 0.0) {
+    2114           0 :       tmp = 0.0;
+    2115             :     }
+    2116             : 
+    2117           0 :     if (tmp > coef_scaler) {
+    2118           0 :       coef_scaler = tmp;
+    2119           0 :       coef_time   = ros::Time::now();
+    2120             :     }
+    2121           0 :     if ((ros::Time::now() - coef_time).toSec() > 2.0) {
+    2122           0 :       coef_scaler = tmp;
+    2123             :     }
+    2124             : 
+    2125             :     // we are close to a possible collision, better slow down a bit to give everyone more time
+    2126           0 :     max_speed_x = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2127           0 :     max_speed_y = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2128             :   }
+    2129             : 
+    2130       22861 :   if (collision_free_altitude_ > lowest_z) {
+    2131             : 
+    2132           0 :     collision_avoidance_affecting_me_ = true;
+    2133           0 :     max_speed_x                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2134           0 :     max_speed_y                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2135             :   }
+    2136             : 
+    2137             :   // first control input generated by MPC
+    2138       45722 :   VectorXd mpc_u         = VectorXd::Zero(_mpc_m_states_);
+    2139       22861 :   double   mpc_u_heading = 0;
+    2140             : 
+    2141       22861 :   double iters_z       = 0;
+    2142       22861 :   double iters_x       = 0;
+    2143       22861 :   double iters_y       = 0;
+    2144       22861 :   double iters_heading = 0;
+    2145             : 
+    2146       22861 :   ros::Time time_begin = ros::Time::now();
+    2147             : 
+    2148       45722 :   MatrixXd des_z_filtered = filterReferenceZ(des_z_trajectory, max_speed_z, min_speed_z);
+    2149             : 
+    2150      937301 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2151      914440 :     if (des_z_filtered(i, 0) < minimum_collison_free_altitude_) {
+    2152           0 :       des_z_filtered_offset_(i, 0) = minimum_collison_free_altitude_;
+    2153             :     } else {
+    2154      914440 :       des_z_filtered_offset_(i, 0) = des_z_filtered(i, 0);
+    2155             :     }
+    2156             :   }
+    2157             : 
+    2158             :   // | ----------------- prepare the references ----------------- |
+    2159             : 
+    2160             :   // | -------------------- MPC solver z-axis ------------------- |
+    2161             : 
+    2162       22861 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2163       12908 :     mpc_solver_z_->setVelQ(drs_params.q_vel_braking);
+    2164             :   } else {
+    2165        9953 :     mpc_solver_z_->setVelQ(drs_params.q_vel_no_braking);
+    2166             :   }
+    2167             : 
+    2168       45722 :   MatrixXd initial_z = MatrixXd::Zero(4, 1);
+    2169             : 
+    2170       22861 :   initial_z(0, 0) = mpc_x(8, 0);
+    2171       22861 :   initial_z(1, 0) = mpc_x(9, 0);
+    2172       22861 :   initial_z(2, 0) = mpc_x(10, 0);
+    2173       22861 :   initial_z(3, 0) = mpc_x(11, 0);
+    2174             : 
+    2175       22861 :   mpc_solver_z_->setDt(dt1);
+    2176       22861 :   mpc_solver_z_->setInitialState(initial_z);
+    2177       22861 :   mpc_solver_z_->loadReference(des_z_filtered_offset_);
+    2178       22861 :   mpc_solver_z_->setLimits(max_speed_z, min_speed_z, max_acc_z, min_acc_z, max_jerk_z, min_jerk_z, max_snap_z, min_snap_z);
+    2179       22861 :   iters_z += mpc_solver_z_->solveMPC();
+    2180             : 
+    2181             :   {
+    2182       45722 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2183             : 
+    2184       22861 :     mpc_solver_z_->getStates(predicted_trajectory_);
+    2185             :   }
+    2186             : 
+    2187       22861 :   mpc_u(2) = mpc_solver_z_->getFirstControlInput();
+    2188             : 
+    2189             :   // if we are climbing to avoid a collision, reduce or arrest our horizontal velocity
+    2190             :   double ascend;
+    2191             :   {
+    2192       22861 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2193             : 
+    2194       22861 :     ascend = (predicted_trajectory_(10, 0) / max_speed_z);
+    2195             :   }
+    2196             : 
+    2197       22861 :   if (ascend > 0 && collision_free_altitude_ > lowest_z) {
+    2198           0 :     max_speed_y = max_speed_y * (1.0 - ascend);
+    2199           0 :     max_speed_x = max_speed_x * (1.0 - ascend);
+    2200             :   }
+    2201             : 
+    2202       68583 :   auto [des_x_filtered, des_y_filtered] = filterReferenceXY(des_x_trajectory, des_y_trajectory, max_speed_x, max_speed_y);
+    2203             : 
+    2204             :   // unwrap the heading reference
+    2205             : 
+    2206       22861 :   des_heading_trajectory(0, 0) = sradians::unwrap(des_heading_trajectory(0, 0), mpc_x_heading(0));
+    2207             : 
+    2208      914440 :   for (int i = 1; i < _mpc_horizon_len_; i++) {
+    2209      891579 :     des_heading_trajectory(i, 0) = sradians::unwrap(des_heading_trajectory(i, 0), des_heading_trajectory(i - 1, 0));
+    2210             :   }
+    2211             : 
+    2212             :   // | -------------------- MPC solver x-axis ------------------- |
+    2213             : 
+    2214       22861 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2215       12908 :     mpc_solver_x_->setVelQ(drs_params.q_vel_braking);
+    2216             :   } else {
+    2217        9953 :     mpc_solver_x_->setVelQ(drs_params.q_vel_no_braking);
+    2218             :   }
+    2219             : 
+    2220       45722 :   MatrixXd initial_x = MatrixXd::Zero(4, 1);
+    2221             : 
+    2222       22861 :   initial_x(0, 0) = mpc_x(0, 0);
+    2223       22861 :   initial_x(1, 0) = mpc_x(1, 0);
+    2224       22861 :   initial_x(2, 0) = mpc_x(2, 0);
+    2225       22861 :   initial_x(3, 0) = mpc_x(3, 0);
+    2226             : 
+    2227       22861 :   mpc_solver_x_->setDt(dt1);
+    2228       22861 :   mpc_solver_x_->setInitialState(initial_x);
+    2229       22861 :   mpc_solver_x_->loadReference(des_x_filtered);
+    2230       22861 :   mpc_solver_x_->setLimits(max_speed_x, max_speed_x, max_acc_x, max_acc_x, max_jerk_x, max_jerk_x, max_snap_x, max_snap_x);
+    2231       22861 :   iters_x += mpc_solver_x_->solveMPC();
+    2232             : 
+    2233             :   {
+    2234       45722 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2235             : 
+    2236       22861 :     mpc_solver_x_->getStates(predicted_trajectory_);
+    2237             :   }
+    2238             : 
+    2239       22861 :   mpc_u(0) = mpc_solver_x_->getFirstControlInput();
+    2240             : 
+    2241             :   // | -------------------- MPC solver y-axis ------------------- |
+    2242             : 
+    2243       22861 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2244       12908 :     mpc_solver_y_->setVelQ(drs_params.q_vel_braking);
+    2245             :   } else {
+    2246        9953 :     mpc_solver_y_->setVelQ(drs_params.q_vel_no_braking);
+    2247             :   }
+    2248             : 
+    2249       45722 :   MatrixXd initial_y = MatrixXd::Zero(4, 1);
+    2250             : 
+    2251       22861 :   initial_y(0, 0) = mpc_x(4, 0);
+    2252       22861 :   initial_y(1, 0) = mpc_x(5, 0);
+    2253       22861 :   initial_y(2, 0) = mpc_x(6, 0);
+    2254       22861 :   initial_y(3, 0) = mpc_x(7, 0);
+    2255             : 
+    2256       22861 :   mpc_solver_y_->setDt(dt1);
+    2257       22861 :   mpc_solver_y_->setInitialState(initial_y);
+    2258       22861 :   mpc_solver_y_->loadReference(des_y_filtered);
+    2259       22861 :   mpc_solver_y_->setLimits(max_speed_y, max_speed_y, max_acc_y, max_acc_y, max_jerk_y, max_jerk_y, max_snap_y, max_snap_y);
+    2260       22861 :   iters_y += mpc_solver_y_->solveMPC();
+    2261             :   {
+    2262       45722 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2263             : 
+    2264       22861 :     mpc_solver_y_->getStates(predicted_trajectory_);
+    2265             :   }
+    2266       22861 :   mpc_u(1) = mpc_solver_y_->getFirstControlInput();
+    2267             : 
+    2268             :   // | ------------------- MPC solver heading ------------------- |
+    2269             : 
+    2270       22861 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2271       12908 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_braking);
+    2272             :   } else {
+    2273        9953 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_no_braking);
+    2274             :   }
+    2275             : 
+    2276       22861 :   mpc_solver_heading_->setDt(dt1);
+    2277       22861 :   mpc_solver_heading_->setInitialState(mpc_x_heading);
+    2278       22861 :   mpc_solver_heading_->loadReference(des_heading_trajectory);
+    2279       22861 :   mpc_solver_heading_->setLimits(constraints.heading_speed, constraints.heading_speed, constraints.heading_acceleration, constraints.heading_acceleration,
+    2280             :                                  constraints.heading_jerk, constraints.heading_jerk, constraints.heading_snap, constraints.heading_snap);
+    2281       22861 :   iters_heading += mpc_solver_heading_->solveMPC();
+    2282             :   {
+    2283       45722 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2284             : 
+    2285       22861 :     mpc_solver_heading_->getStates(predicted_heading_trajectory_);
+    2286             :   }
+    2287       22861 :   mpc_u_heading = mpc_solver_heading_->getFirstControlInput();
+    2288             : 
+    2289             :   {
+    2290       22861 :     bool saturating = false;
+    2291             : 
+    2292       22861 :     if (mpc_u(0) > max_snap_x * 1.01) {
+    2293           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2294           0 :       mpc_u(0)   = max_snap_x;
+    2295           0 :       saturating = true;
+    2296             :     }
+    2297       22861 :     if (mpc_u(0) < -max_snap_x * 1.01) {
+    2298           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2299           0 :       mpc_u(0)   = -max_snap_x;
+    2300           0 :       saturating = true;
+    2301             :     }
+    2302       22861 :     if (mpc_u(1) > max_snap_y * 1.01) {
+    2303           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2304           0 :       mpc_u(1)   = max_snap_y;
+    2305           0 :       saturating = true;
+    2306             :     }
+    2307       22861 :     if (mpc_u(1) < -max_snap_y * 1.01) {
+    2308           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2309           0 :       mpc_u(1)   = -max_snap_y;
+    2310           0 :       saturating = true;
+    2311             :     }
+    2312       22861 :     if (mpc_u(2) > max_snap_z * 1.01) {
+    2313           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2314           0 :       mpc_u(2)   = max_snap_z;
+    2315           0 :       saturating = true;
+    2316             :     }
+    2317       22861 :     if (mpc_u(2) < -min_snap_z * 1.01) {
+    2318           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2319           0 :       mpc_u(2)   = -min_snap_z;
+    2320           0 :       saturating = true;
+    2321             :     }
+    2322             : 
+    2323       22861 :     if (saturating) {
+    2324           0 :       debugPrintState(0.1);
+    2325           0 :       debugPrintMPCResult(0.1);
+    2326             :     }
+    2327             :   }
+    2328             : 
+    2329             :   {
+    2330       22861 :     std::scoped_lock lock(mutex_mpc_u_);
+    2331             : 
+    2332       22861 :     mpc_u_         = mpc_u;
+    2333       22861 :     mpc_u_heading_ = mpc_u_heading;
+    2334             :   }
+    2335             : 
+    2336       22861 :   double mpc_solver_time = (ros::Time::now() - time_begin).toSec();
+    2337       22861 :   if (mpc_solver_time > dt1 || iters_x > _max_iters_xy_ || iters_y > _max_iters_xy_ || iters_z > _max_iters_z_ || iters_heading > _max_iters_heading_) {
+    2338         494 :     ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: Total MPC solver time: " << mpc_solver_time << " iters X: " << iters_x << "/" << _max_iters_xy_
+    2339             :                                                                            << " iters Y:  " << iters_y << "/" << _max_iters_xy_ << " iters Z: " << iters_z
+    2340             :                                                                            << "/" << _max_iters_z_ << " iters heading: " << iters_heading << "/"
+    2341             :                                                                            << _max_iters_heading_);
+    2342             :   }
+    2343             : 
+    2344       22861 :   future_was_predicted_ = true;
+    2345             : 
+    2346             :   // | ------------- breaking for the next iteration ------------ |
+    2347             : 
+    2348       68583 :   if (drs_params.braking_enabled &&
+    2349       22861 :       (fabs(des_x_filtered(8) - des_x_filtered(_mpc_horizon_len_ - 1)) <= 1e-1 && fabs(des_x_filtered(30) - des_x_filtered(_mpc_horizon_len_ - 1)) <= 1e-1) &&
+    2350       13183 :       (fabs(des_y_filtered(8) - des_y_filtered(_mpc_horizon_len_ - 1)) <= 1e-1 && fabs(des_y_filtered(30) - des_y_filtered(_mpc_horizon_len_ - 1)) <= 1e-1) &&
+    2351       58865 :       (fabs(des_z_filtered(8) - des_z_filtered(_mpc_horizon_len_ - 1)) <= 1e-1 && fabs(des_z_filtered(30) - des_z_filtered(_mpc_horizon_len_ - 1)) <= 1e-1) &&
+    2352       13143 :       (fabs(radians::diff(des_heading_trajectory(10), des_heading_trajectory(_mpc_horizon_len_ - 1))) <= 0.1 &&
+    2353       13143 :        fabs(radians::diff(des_heading_trajectory(30), des_heading_trajectory(_mpc_horizon_len_ - 1))) <= 0.1)) {
+    2354       13143 :     brake_ = true;
+    2355       13143 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: braking");
+    2356             :   } else {
+    2357        9718 :     brake_ = false;
+    2358             :   }
+    2359             : 
+    2360             :   /* publish mpc reference //{ */
+    2361             : 
+    2362             :   {
+    2363       45722 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2364       22861 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2365       22861 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    2366             : 
+    2367             :     {
+    2368       45722 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    2369             : 
+    2370      937301 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2371             : 
+    2372      914440 :         geometry_msgs::Pose new_pose;
+    2373             : 
+    2374      914440 :         new_pose.position.x = des_x_filtered(i, 0);
+    2375      914440 :         new_pose.position.y = des_y_filtered(i, 0);
+    2376      914440 :         new_pose.position.z = des_z_filtered(i, 0);
+    2377             : 
+    2378      914440 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(i));
+    2379             : 
+    2380      914440 :         debug_trajectory_out.poses.push_back(new_pose);
+    2381             :       }
+    2382             :     }
+    2383             : 
+    2384       22861 :     ph_mpc_reference_debugging_.publish(debug_trajectory_out);
+    2385             :   }
+    2386             : 
+    2387             :   //}
+    2388             : }
+    2389             : 
+    2390             : //}
+    2391             : 
+    2392             : /* iterateModel() //{ */
+    2393             : 
+    2394       21983 : void MpcTracker::iterateModel(const double& dt) {
+    2395             : 
+    2396       21983 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2397             : 
+    2398       21983 :   if (model_first_iteration_) {
+    2399             : 
+    2400          46 :     model_iteration_last_time_ = ros::Time::now();
+    2401          46 :     model_first_iteration_     = false;
+    2402             : 
+    2403             :   } else {
+    2404             : 
+    2405       21937 :     dt1 = 0.9 * dt1 + 0.1 * dt;
+    2406             : 
+    2407       21937 :     mrs_lib::set_mutexed(mutex_dt1_, dt1, dt1_);
+    2408       21937 :     timer_mpc_iteration_.setPeriod(ros::Duration(dt1), false);
+    2409             : 
+    2410             :     // clang-format off
+    2411       21937 :     A_ << 1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,           0, 0,   0,           0,
+    2412       21937 :           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,           0, 0,   0,           0,
+    2413       21937 :           0, 0,   1,           dt1,         0, 0,   0,           0,           0, 0,   0,           0,
+    2414       21937 :           0, 0,   0,           1,           0, 0,   0,           0,           0, 0,   0,           0,
+    2415       21937 :           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,
+    2416       21937 :           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,
+    2417       21937 :           0, 0,   0,           0,           0, 0,   1,           dt1,         0, 0,   0,           0,
+    2418       21937 :           0, 0,   0,           0,           0, 0,   0,           1,           0, 0,   0,           0,
+    2419       21937 :           0, 0,   0,           0,           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,
+    2420       21937 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1,
+    2421       21937 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   1,           dt1,
+    2422       21937 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   0,           1;
+    2423             : 
+    2424       21937 :       B_ << 0,   0,   0,
+    2425       21937 :             0,   0,   0,
+    2426       21937 :             0,   0,   0,
+    2427       21937 :             dt1, 0,   0,
+    2428       21937 :             0,   0,   0,
+    2429       21937 :             0,   0,   0,
+    2430       21937 :             0,   0,   0,
+    2431       21937 :             0,   dt1, 0,
+    2432       21937 :             0,   0,   0,
+    2433       21937 :             0,   0,   0,
+    2434       21937 :             0,   0,   0,
+    2435       21937 :             0,   0,   dt1;
+    2436             : 
+    2437       21937 :       A_heading_ << 1, dt1, 0.5*dt1*dt1, 0,
+    2438       21937 :                     0, 1,   dt1,         0.5*dt1*dt1,
+    2439       21937 :                     0, 0,   1,           dt1,
+    2440       21937 :                     0, 0,   0,           1;
+    2441             : 
+    2442       21937 :       B_heading_ << 0,
+    2443       21937 :                     0,
+    2444       43874 :                     0,
+    2445       21937 :                     dt1;
+    2446             : 
+    2447       21937 :     model_iteration_last_time_ = ros::Time::now();
+    2448             :   }
+    2449             : 
+    2450             :   {
+    2451       43966 :     auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2452       43966 :     auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    2453             : 
+    2454       43966 :     MatrixXd new_mpc_x         = A_ * mpc_x + B_ * mpc_u;
+    2455       43966 :     MatrixXd new_mpc_x_heading = A_heading_ * mpc_x_heading + B_heading_ * mpc_u_heading;
+    2456             : 
+    2457             :     // | --------------- check the state difference --------------- |
+    2458             :     {
+    2459       21983 :       auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    2460             : 
+    2461       21983 :       bool problem = false;
+    2462             : 
+    2463             :       // position
+    2464             : 
+    2465       21983 :       if (fabs((new_mpc_x(0) - mpc_x(0)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2466           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(0), new_mpc_x(0),
+    2467             :                   fabs((new_mpc_x(0) - mpc_x(0)) / dt1), constraints.horizontal_speed);
+    2468           0 :         problem = true;
+    2469             :       }
+    2470             : 
+    2471       21983 :       if (fabs((new_mpc_x(4) - mpc_x(4)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2472           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(4), new_mpc_x(4),
+    2473             :                   fabs((new_mpc_x(4) - mpc_x(4)) / dt1), constraints.horizontal_speed);
+    2474           0 :         problem = true;
+    2475             :     }
+    2476             : 
+    2477       21983 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) > 1.05 * constraints.vertical_ascending_speed) {
+    2478           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(8), new_mpc_x(8),
+    2479             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), constraints.vertical_ascending_speed);
+    2480           0 :         problem = true;
+    2481             :       }
+    2482             : 
+    2483       21983 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) < 1.05 * -constraints.vertical_descending_speed) {
+    2484           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(8), new_mpc_x(8),
+    2485             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), -constraints.vertical_descending_speed);
+    2486           0 :         problem = true;
+    2487             :       }
+    2488             : 
+    2489             :       /* if (fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1) > 1.2 * constraints.heading_speed) { */
+    2490             :       /*   ROS_DEBUG("[MpcTracker]: heading update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x_heading(0), new_mpc_x_heading(0), */
+    2491             :       /*             fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1), constraints.heading_speed); */
+    2492             :       /*   problem = true; */
+    2493             :       /* } */
+    2494             : 
+    2495             :       // velocity
+    2496             : 
+    2497       21983 :       if (fabs((new_mpc_x(1) - mpc_x(1)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2498           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(1), new_mpc_x(1),
+    2499             :                   fabs((new_mpc_x(1) - mpc_x(1)) / dt1), constraints.horizontal_acceleration);
+    2500           0 :         problem = true;
+    2501             :       }
+    2502             : 
+    2503       21983 :       if (fabs((new_mpc_x(5) - mpc_x(5)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2504           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(5), new_mpc_x(5),
+    2505             :                   fabs((new_mpc_x(5) - mpc_x(5)) / dt1), constraints.horizontal_acceleration);
+    2506           0 :         problem = true;
+    2507             :       }
+    2508             : 
+    2509       21983 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) > 1.05 * constraints.vertical_ascending_acceleration) {
+    2510           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(9), new_mpc_x(9),
+    2511             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), constraints.vertical_ascending_acceleration);
+    2512           0 :         problem = true;
+    2513             :       }
+    2514             : 
+    2515       21983 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) < 1.05 * -constraints.vertical_descending_acceleration) {
+    2516           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(9), new_mpc_x(9),
+    2517             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), -constraints.vertical_descending_acceleration);
+    2518           0 :         problem = true;
+    2519             :       }
+    2520             : 
+    2521             :       // acceleration
+    2522             : 
+    2523       21983 :       if (fabs((new_mpc_x(2) - mpc_x(2)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2524           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(2), new_mpc_x(2),
+    2525             :                   fabs((new_mpc_x(2) - mpc_x(2)) / dt1), constraints.horizontal_jerk);
+    2526           0 :         problem = true;
+    2527             :       }
+    2528             : 
+    2529       21983 :       if (fabs((new_mpc_x(6) - mpc_x(6)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2530           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc y update violates constraints: %.2f -> %.2f, = %.2f > %.2f", mpc_x(6), new_mpc_x(6),
+    2531             :                   fabs((new_mpc_x(6) - mpc_x(6)) / dt1), constraints.horizontal_jerk);
+    2532           0 :         problem = true;
+    2533             :       }
+    2534             : 
+    2535       21983 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) > 1.05 * constraints.vertical_ascending_jerk) {
+    2536           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(10), new_mpc_x(10),
+    2537             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), constraints.vertical_ascending_jerk);
+    2538           0 :         problem = true;
+    2539             :       }
+    2540             : 
+    2541       21983 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) < 1.05 * -constraints.vertical_descending_jerk) {
+    2542           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(10), new_mpc_x(10),
+    2543             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), -constraints.vertical_descending_jerk);
+    2544           0 :         problem = true;
+    2545             :       }
+    2546             : 
+    2547             :       // jerk
+    2548             : 
+    2549       21983 :       if (fabs((new_mpc_x(3) - mpc_x(3)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2550           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(3), new_mpc_x(3),
+    2551             :                   fabs((new_mpc_x(3) - mpc_x(3)) / dt1), constraints.horizontal_snap);
+    2552           0 :         problem = true;
+    2553             :       }
+    2554             : 
+    2555       21983 :       if (fabs((new_mpc_x(7) - mpc_x(7)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2556           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(7), new_mpc_x(7),
+    2557             :                   fabs((new_mpc_x(7) - mpc_x(7)) / dt1), constraints.horizontal_snap);
+    2558           0 :         problem = true;
+    2559             :       }
+    2560             : 
+    2561       21983 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) > 1.05 * constraints.vertical_ascending_snap) {
+    2562           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(11), new_mpc_x(11),
+    2563             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), constraints.vertical_ascending_snap);
+    2564           0 :         problem = true;
+    2565             :       }
+    2566             : 
+    2567       21983 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) < 1.05 * -constraints.vertical_descending_snap) {
+    2568           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(11), new_mpc_x(11),
+    2569             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), -constraints.vertical_descending_snap);
+    2570           0 :         problem = true;
+    2571             :       }
+    2572             : 
+    2573       21983 :       if (problem) {
+    2574           0 :         debugPrintState(0.001);
+    2575           0 :         debugPrintMPCResult(0.001);
+    2576             :       }
+    2577             :     }
+    2578             : 
+    2579             :     {
+    2580       21983 :       std::scoped_lock lock(mutex_mpc_x_);
+    2581             : 
+    2582       21983 :       mpc_x_         = new_mpc_x;
+    2583       21983 :       mpc_x_heading_ = new_mpc_x_heading;
+    2584             : 
+    2585       21983 :       mpc_x_heading_(0) = sradians::wrap(mpc_x_heading_(0));
+    2586             :     }
+    2587             :   }
+    2588       21983 : }
+    2589             : 
+    2590             : //}
+    2591             : 
+    2592             : // | -------------------- referece setting -------------------- |
+    2593             : 
+    2594             : /* //{ loadTrajectory() */
+    2595             : 
+    2596             : // method for setting desired trajectory
+    2597           1 : std::tuple<bool, std::string, bool> MpcTracker::loadTrajectory(const mrs_msgs::TrajectoryReference msg) {
+    2598             : 
+    2599           1 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2600             : 
+    2601             :   // copy the member variables
+    2602           2 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    2603           2 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2604             : 
+    2605           2 :   std::stringstream ss;
+    2606             : 
+    2607             :   /* check the trajectory dt //{ */
+    2608             : 
+    2609             :   double trajectory_dt;
+    2610           1 :   if (msg.dt <= 1e-4) {
+    2611           0 :     trajectory_dt = 0.2;
+    2612           0 :     ROS_WARN_THROTTLE(10.0, "[MpcTracker]: the trajectory dt was not specified, assuming its the old 0.2 s");
+    2613           1 :   } else if (msg.dt < dt1) {
+    2614           0 :     trajectory_dt = 0.2;
+    2615           0 :     ss << std::setprecision(3) << "the trajectory dt (" << msg.dt << " s) is too small (smaller than the tracker's internal step size: " << dt1 << " s)";
+    2616           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2617           0 :     return std::tuple(false, ss.str(), false);
+    2618             :   } else {
+    2619           1 :     trajectory_dt = msg.dt;
+    2620             :   }
+    2621             : 
+    2622             :   //}
+    2623             : 
+    2624           1 :   int trajectory_size = msg.points.size();
+    2625             : 
+    2626             :   /* sanitize the time-ness of the trajectory //{ */
+    2627             : 
+    2628           1 :   int    trajectory_sample_offset    = 0;  // how many samples in past is the trajectory
+    2629           1 :   int    trajectory_subsample_offset = 0;  // how many simulation inner loops ahead of the first valid sample
+    2630           1 :   double trajectory_time_offset      = 0;  // how much time in past in [s]
+    2631             : 
+    2632             :   // btw, "trajectory_time_offset = trajectory_dt*trajectory_sample_offset + _dt1_*trajectory_subsample_offset" should hold
+    2633           1 :   if (msg.fly_now) {
+    2634             : 
+    2635           1 :     ros::Time trajectory_time = msg.header.stamp;
+    2636             : 
+    2637             :     // the desired time is 0 => the current time
+    2638             :     // the trajecoty is a single point => the current time
+    2639           1 :     if (trajectory_time == ros::Time(0) || int(msg.points.size()) == 1) {
+    2640             : 
+    2641           1 :       trajectory_time_offset = 0.0;
+    2642             : 
+    2643             :       // the desired time is specified
+    2644             :     } else {
+    2645             : 
+    2646           0 :       trajectory_time_offset = (ros::Time::now() - trajectory_time).toSec();
+    2647             : 
+    2648             :       // when the time offset is negative, thus in the future
+    2649             :       // just say it, but use it like its from the current time
+    2650           0 :       if (trajectory_time_offset < 0.0) {
+    2651             : 
+    2652           0 :         ROS_WARN_THROTTLE(1.0, "[MpcTracker]: received trajectory with timestamp in the future by %.3f s", -trajectory_time_offset);
+    2653             : 
+    2654           0 :         trajectory_time_offset = 0.0;
+    2655             :       }
+    2656             :     }
+    2657             : 
+    2658             :     // if the time offset is set, check if we need to "move the first idx"
+    2659           1 :     if (trajectory_time_offset > 0.0) {
+    2660             : 
+    2661             :       // calculate the offset in samples
+    2662           0 :       trajectory_sample_offset = int(floor(trajectory_time_offset / trajectory_dt));
+    2663             : 
+    2664             :       // and get the subsample offset, which will be used to initialize the interpolator
+    2665           0 :       trajectory_subsample_offset = int(floor(fmod(trajectory_time_offset, trajectory_dt) / dt1));
+    2666             : 
+    2667           0 :       ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: received trajectory with timestamp in the past by %.3f s",
+    2668             :                          trajectory_dt * trajectory_sample_offset + dt1 * trajectory_subsample_offset);
+    2669             : 
+    2670             :       // if the offset is larger than the number of points in the trajectory
+    2671             :       // the trajectory can not be used
+    2672           0 :       if (trajectory_sample_offset >= trajectory_size) {
+    2673             : 
+    2674           0 :         ss << "trajectory timestamp is too old (time difference = " << trajectory_time_offset << ")";
+    2675           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2676           0 :         return std::tuple(false, ss.str(), false);
+    2677             : 
+    2678             :       } else {
+    2679             : 
+    2680             :         // if the offset is larger than one trajectory sample,
+    2681             :         // offset the start
+    2682           0 :         if (trajectory_time_offset >= trajectory_dt) {
+    2683             : 
+    2684             :           // decrease the trajectory size
+    2685           0 :           trajectory_size -= trajectory_sample_offset;
+    2686             : 
+    2687           0 :           ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: offsetting trajectory by %d samples", trajectory_sample_offset);
+    2688             : 
+    2689             :         } else {
+    2690             : 
+    2691           0 :           trajectory_sample_offset = 0;
+    2692             :         }
+    2693             :       }
+    2694             :     }
+    2695             : 
+    2696             :   } else { // not fly_now
+    2697             : 
+    2698           0 :       trajectory_tracking_in_progress_ = false;
+    2699             : 
+    2700           0 :       timer_trajectory_tracking_.stop();
+    2701             :   }
+    2702             : 
+    2703             :   //}
+    2704             : 
+    2705           1 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory sample offset: %d", trajectory_sample_offset);
+    2706           1 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory subsample offset: %d", trajectory_subsample_offset);
+    2707             : 
+    2708             :   // after this, we should have the correct value of
+    2709             :   // * trajectory_size
+    2710             :   // * trajectory_sample_offset
+    2711             :   // * trajectory_subsample_offset
+    2712             : 
+    2713             :   /* copy the trajectory to a local variable //{ */
+    2714             : 
+    2715             :   // copy only the part from the first valid index
+    2716             : 
+    2717           2 :   MatrixXd des_x_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2718           2 :   MatrixXd des_y_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2719           2 :   MatrixXd des_z_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2720           2 :   MatrixXd des_heading_whole_trajectory = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2721             : 
+    2722          41 :   for (int i = 0; i < trajectory_size; i++) {
+    2723             : 
+    2724          40 :     des_x_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.x;
+    2725          40 :     des_y_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.y;
+    2726          40 :     des_z_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.z;
+    2727          40 :     des_heading_whole_trajectory(i) = msg.points[trajectory_sample_offset + i].heading;
+    2728             :   }
+    2729             : 
+    2730             :   //}
+    2731             : 
+    2732             :   /* set looping //{ */
+    2733             : 
+    2734           1 :   bool loop = false;
+    2735             : 
+    2736           1 :   if (msg.loop) {
+    2737             : 
+    2738           0 :     double first_x = des_x_whole_trajectory(0);
+    2739           0 :     double first_y = des_y_whole_trajectory(0);
+    2740           0 :     double first_z = des_z_whole_trajectory(0);
+    2741             : 
+    2742           0 :     double last_x = des_x_whole_trajectory(trajectory_size - 1);
+    2743           0 :     double last_y = des_y_whole_trajectory(trajectory_size - 1);
+    2744           0 :     double last_z = des_z_whole_trajectory(trajectory_size - 1);
+    2745             : 
+    2746             :     // check whether the trajectory is loopable
+    2747             :     // TODO should check heading aswell
+    2748           0 :     if (mrs_lib::geometry::dist(vec3_t(first_x, first_y, first_z), vec3_t(last_x, last_y, last_z)) < 3.141592653) {
+    2749             : 
+    2750           0 :       ROS_INFO_THROTTLE(1.0, "[MpcTracker]: looping enabled");
+    2751           0 :       loop = true;
+    2752             : 
+    2753             :     } else {
+    2754             : 
+    2755           0 :       ss << "can not loop trajectory, the first and last points are too far apart";
+    2756           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2757           0 :       return std::tuple(false, ss.str(), false);
+    2758             :     }
+    2759             : 
+    2760             :   } else {
+    2761             : 
+    2762           1 :     loop = false;
+    2763             :   }
+    2764             : 
+    2765             :   //}
+    2766             : 
+    2767             :   // by this time, the values of these should be set:
+    2768             :   // * loop
+    2769             : 
+    2770             :   /* add tail (the last point repeated to fill the prediction horizon) //{ */
+    2771             : 
+    2772           1 :   if (!loop) {
+    2773             : 
+    2774             :     // extend it so it has smooth ending
+    2775          41 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2776             : 
+    2777          40 :       des_x_whole_trajectory(i + trajectory_size)       = des_x_whole_trajectory(i + trajectory_size - 1);
+    2778          40 :       des_y_whole_trajectory(i + trajectory_size)       = des_y_whole_trajectory(i + trajectory_size - 1);
+    2779          40 :       des_z_whole_trajectory(i + trajectory_size)       = des_z_whole_trajectory(i + trajectory_size - 1);
+    2780          40 :       des_heading_whole_trajectory(i + trajectory_size) = des_heading_whole_trajectory(i + trajectory_size - 1);
+    2781             :     }
+    2782             :   }
+    2783             : 
+    2784             :   //}
+    2785             : 
+    2786             :   // by this time, the values of these should be set correctly:
+    2787             :   // * trajectory_size
+    2788             :   // * des_x_whole_trajectory
+    2789             :   // * des_y_whole_trajectory
+    2790             :   // * des_z_whole_trajectory
+    2791             :   // * des_heading_whole_trajectory
+    2792             : 
+    2793             :   /* update the global variables //{ */
+    2794             : 
+    2795             :   {
+    2796           2 :     std::scoped_lock lock(mutex_des_whole_trajectory_, mutex_des_trajectory_, mutex_trajectory_tracking_states_);
+    2797             : 
+    2798           1 :     des_whole_trajectory_id_ = msg.input_id;
+    2799             : 
+    2800           1 :     auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2801             : 
+    2802           1 :     trajectory_tracking_in_progress_ = msg.fly_now;
+    2803           1 :     trajectory_track_heading_        = msg.use_heading;
+    2804             : 
+    2805             :     // allocate the vectors
+    2806           1 :     des_x_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2807           1 :     des_y_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2808           1 :     des_z_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2809           1 :     des_heading_whole_trajectory_ = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2810             : 
+    2811          81 :     for (int i = 0; i < trajectory_size + _mpc_horizon_len_; i++) {
+    2812             : 
+    2813          80 :       (*des_x_whole_trajectory_)(i) = des_x_whole_trajectory(i);
+    2814          80 :       (*des_y_whole_trajectory_)(i) = des_y_whole_trajectory(i);
+    2815          80 :       (*des_z_whole_trajectory_)(i) = des_z_whole_trajectory(i);
+    2816             : 
+    2817          80 :       if (trajectory_track_heading_) {
+    2818          80 :         (*des_heading_whole_trajectory_)(i) = des_heading_whole_trajectory(i);
+    2819             :       } else {
+    2820           0 :         (*des_heading_whole_trajectory_).fill(mpc_x_heading(0, 0));
+    2821             :       }
+    2822             :     }
+    2823             : 
+    2824             :     // if we are tracking trajectory, copy the setpoint
+    2825           1 :     if (trajectory_tracking_in_progress_) {
+    2826             : 
+    2827           1 :       toggleHover(false);  // TODO check for deadlock through mutex_des_trajectory_
+    2828             : 
+    2829             :       /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    2830             : 
+    2831          41 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2832             : 
+    2833          40 :         double first_time = dt1 + i * _dt2_ + trajectory_subsample_offset * dt1;
+    2834             : 
+    2835          40 :         int first_idx  = floor(first_time / trajectory_dt);
+    2836          40 :         int second_idx = first_idx + 1;
+    2837             : 
+    2838          40 :         double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    2839             : 
+    2840          40 :         if (trajectory_tracking_loop_) {
+    2841             : 
+    2842           0 :           if (second_idx >= trajectory_size) {
+    2843           0 :             second_idx -= trajectory_size;
+    2844             :           }
+    2845             : 
+    2846           0 :           if (first_idx >= trajectory_size) {
+    2847           0 :             first_idx -= trajectory_size;
+    2848             :           }
+    2849             :         } else {
+    2850             : 
+    2851          40 :           if (second_idx >= trajectory_size) {
+    2852           1 :             second_idx = trajectory_size - 1;
+    2853             :           }
+    2854             : 
+    2855          40 :           if (first_idx >= trajectory_size) {
+    2856           0 :             first_idx = trajectory_size - 1;
+    2857             :           }
+    2858             :         }
+    2859             : 
+    2860          40 :         des_x_trajectory_(i, 0) = (1 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    2861          40 :         des_y_trajectory_(i, 0) = (1 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    2862          40 :         des_z_trajectory_(i, 0) = (1 - interp_coeff) * des_z_whole_trajectory(first_idx) + interp_coeff * des_z_whole_trajectory(second_idx);
+    2863             : 
+    2864          40 :         des_heading_trajectory_(i, 0) = sradians::interp(des_heading_whole_trajectory(first_idx), des_heading_whole_trajectory(second_idx), interp_coeff);
+    2865             :       }
+    2866             : 
+    2867             :       //}
+    2868             :     }
+    2869             : 
+    2870           1 :     trajectory_size_             = trajectory_size;
+    2871           1 :     trajectory_tracking_idx_     = 0;
+    2872           1 :     trajectory_tracking_sub_idx_ = trajectory_subsample_offset;
+    2873           1 :     trajectory_set_              = true;
+    2874           1 :     trajectory_tracking_loop_    = loop;
+    2875           1 :     trajectory_dt_               = trajectory_dt;
+    2876           1 :     trajectory_count_++;
+    2877             : 
+    2878           1 :     timer_trajectory_tracking_.setPeriod(ros::Duration(trajectory_dt));
+    2879             :   }
+    2880             : 
+    2881             :   //}
+    2882             : 
+    2883           1 :   if (trajectory_tracking_in_progress_) {
+    2884           1 :     timer_trajectory_tracking_.start();
+    2885             :   }
+    2886             : 
+    2887           1 :   ROS_INFO_THROTTLE(1, "[MpcTracker]: finished setting trajectory with length %d", trajectory_size);
+    2888             : 
+    2889             :   /* publish the debugging topics of the post-processed trajectory //{ */
+    2890             : 
+    2891             :   {
+    2892             : 
+    2893           2 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2894           1 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2895           1 :     debug_trajectory_out.header.frame_id = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2896             : 
+    2897             :     {
+    2898           2 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2899             : 
+    2900          41 :       for (int i = 0; i < trajectory_size; i++) {
+    2901             : 
+    2902          40 :         geometry_msgs::Pose new_pose;
+    2903             : 
+    2904          40 :         new_pose.position.x = (*des_x_whole_trajectory_)(i);
+    2905          40 :         new_pose.position.y = (*des_y_whole_trajectory_)(i);
+    2906          40 :         new_pose.position.z = (*des_z_whole_trajectory_)(i);
+    2907             : 
+    2908          40 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(i));
+    2909             : 
+    2910          40 :         debug_trajectory_out.poses.push_back(new_pose);
+    2911             :       }
+    2912             :     }
+    2913             : 
+    2914           1 :     pub_debug_processed_trajectory_poses_.publish(debug_trajectory_out);
+    2915             : 
+    2916           2 :     visualization_msgs::MarkerArray msg_out;
+    2917             : 
+    2918           2 :     visualization_msgs::Marker marker;
+    2919             : 
+    2920           1 :     marker.header.stamp     = ros::Time::now();
+    2921           1 :     marker.header.frame_id  = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2922           1 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    2923           1 :     marker.color.a          = 1;
+    2924           1 :     marker.scale.x          = 0.05;
+    2925           1 :     marker.color.r          = 1;
+    2926           1 :     marker.color.g          = 0;
+    2927           1 :     marker.color.b          = 0;
+    2928           1 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2929             : 
+    2930             :     {
+    2931           2 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2932             : 
+    2933          40 :       for (int i = 0; i < trajectory_size - 1; i++) {
+    2934             : 
+    2935          39 :         geometry_msgs::Point point1;
+    2936             : 
+    2937          39 :         point1.x = des_x_whole_trajectory(i);
+    2938          39 :         point1.y = des_y_whole_trajectory(i);
+    2939          39 :         point1.z = des_z_whole_trajectory(i);
+    2940             : 
+    2941          39 :         marker.points.push_back(point1);
+    2942             : 
+    2943          39 :         geometry_msgs::Point point2;
+    2944             : 
+    2945          39 :         point2.x = des_x_whole_trajectory(i + 1);
+    2946          39 :         point2.y = des_y_whole_trajectory(i + 1);
+    2947          39 :         point2.z = des_z_whole_trajectory(i + 1);
+    2948             : 
+    2949          39 :         marker.points.push_back(point2);
+    2950             :       }
+    2951             :     }
+    2952             : 
+    2953           1 :     msg_out.markers.push_back(marker);
+    2954             : 
+    2955           1 :     pub_debug_processed_trajectory_markers_.publish(msg_out);
+    2956             :   }
+    2957             : 
+    2958             :   //}
+    2959             : 
+    2960           1 :   publishDiagnostics();
+    2961             : 
+    2962           2 :   return std::tuple(true, "trajectory loaded", false);
+    2963             : }
+    2964             : 
+    2965             : //}
+    2966             : 
+    2967             : /* //{ setSinglePointReference() */
+    2968             : 
+    2969             : // fill the des_*_trajectory based on a single point
+    2970         229 : void MpcTracker::setSinglePointReference(const double x, const double y, const double z, const double heading) {
+    2971             : 
+    2972         458 :   std::scoped_lock lock(mutex_des_trajectory_);
+    2973             : 
+    2974         229 :   des_x_trajectory_.fill(x);
+    2975         229 :   des_y_trajectory_.fill(y);
+    2976         229 :   des_z_trajectory_.fill(z);
+    2977         229 :   des_heading_trajectory_.fill(heading);
+    2978         229 : }
+    2979             : 
+    2980             : //}
+    2981             : 
+    2982             : /* //{ setGoal() */
+    2983             : 
+    2984             : // set absolute goal
+    2985          29 : void MpcTracker::setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    2986             : 
+    2987          29 :   double desired_heading = sradians::wrap(heading);
+    2988             : 
+    2989          58 :   auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2990             : 
+    2991          29 :   if (!use_heading) {
+    2992           0 :     desired_heading = mpc_x_heading(0, 0);
+    2993             :   }
+    2994             : 
+    2995          29 :   trajectory_tracking_in_progress_ = false;
+    2996          29 :   timer_trajectory_tracking_.stop();
+    2997             : 
+    2998          29 :   setSinglePointReference(pos_x, pos_y, pos_z, desired_heading);
+    2999             : 
+    3000          29 :   publishDiagnostics();
+    3001          29 : }
+    3002             : 
+    3003             : //}
+    3004             : 
+    3005             : /* //{ setRelativeGoal() */
+    3006             : 
+    3007         200 : void MpcTracker::setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    3008             : 
+    3009         400 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3010             : 
+    3011         200 :   double abs_x = mpc_x(0, 0) + pos_x;
+    3012         200 :   double abs_y = mpc_x(4, 0) + pos_y;
+    3013         200 :   double abs_z = mpc_x(8, 0) + pos_z;
+    3014             : 
+    3015         200 :   double abs_heading = mpc_x_heading(0, 0);
+    3016             : 
+    3017         200 :   if (use_heading) {
+    3018           0 :     abs_heading += heading;
+    3019             :   }
+    3020             : 
+    3021         200 :   trajectory_tracking_in_progress_ = false;
+    3022         200 :   timer_trajectory_tracking_.stop();
+    3023             : 
+    3024         200 :   setSinglePointReference(abs_x, abs_y, abs_z, abs_heading);
+    3025             : 
+    3026         200 :   publishDiagnostics();
+    3027         200 : }
+    3028             : 
+    3029             : //}
+    3030             : 
+    3031             : /* toggleHover() //{ */
+    3032             : 
+    3033         132 : void MpcTracker::toggleHover(bool in) {
+    3034             : 
+    3035             :   // DON'T PUT MUTEX LOCK IN THIS FUNCTION
+    3036             :   // it is called under mutex elsewhere
+    3037             : 
+    3038         132 :   if (in == false && hovering_in_progress_) {
+    3039             : 
+    3040          46 :     ROS_DEBUG("[MpcTracker]: stoppping the hover timer");
+    3041             : 
+    3042          46 :     timer_hover_.stop();
+    3043             : 
+    3044          46 :     hovering_in_progress_ = false;
+    3045             : 
+    3046          86 :   } else if (in == true && !hovering_in_progress_) {
+    3047             : 
+    3048          46 :     ROS_DEBUG("[MpcTracker]: starting the hover timer");
+    3049             : 
+    3050          46 :     hovering_in_progress_ = true;
+    3051             : 
+    3052          46 :     timer_hover_.start();
+    3053             :   }
+    3054         132 : }
+    3055             : 
+    3056             : //}
+    3057             : 
+    3058             : // | ------------------- trajectory tracking ------------------ |
+    3059             : 
+    3060             : /* startTrajectoryTrackingImpl() //{ */
+    3061             : 
+    3062           0 : std::tuple<bool, std::string> MpcTracker::startTrajectoryTrackingImpl(void) {
+    3063             : 
+    3064           0 :   std::stringstream ss;
+    3065             : 
+    3066           0 :   if (trajectory_set_) {
+    3067             : 
+    3068           0 :     toggleHover(false);
+    3069             : 
+    3070             :     {
+    3071           0 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3072             : 
+    3073           0 :       trajectory_tracking_in_progress_ = true;
+    3074           0 :       trajectory_tracking_idx_         = 0;
+    3075           0 :       trajectory_tracking_sub_idx_     = 0;
+    3076             :     }
+    3077             : 
+    3078           0 :     timer_trajectory_tracking_.setPeriod(ros::Duration(trajectory_dt_));
+    3079           0 :     timer_trajectory_tracking_.start();
+    3080             : 
+    3081           0 :     publishDiagnostics();
+    3082             : 
+    3083           0 :     ss << "trajectory tracking started";
+    3084           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3085             : 
+    3086           0 :     return std::tuple(true, ss.str());
+    3087             : 
+    3088             :   } else {
+    3089             : 
+    3090           0 :     ss << "can not start trajectory tracking, the trajectory is not set";
+    3091           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3092             : 
+    3093           0 :     return std::tuple(false, ss.str());
+    3094             :   }
+    3095             : }
+    3096             : 
+    3097             : //}
+    3098             : 
+    3099             : /* resumeTrajectoryTrackingImpl() //{ */
+    3100             : 
+    3101           0 : std::tuple<bool, std::string> MpcTracker::resumeTrajectoryTrackingImpl(void) {
+    3102             : 
+    3103           0 :   std::stringstream ss;
+    3104             : 
+    3105           0 :   if (trajectory_set_) {
+    3106             : 
+    3107           0 :     toggleHover(false);
+    3108             : 
+    3109           0 :     auto trajectory_tracking_idx = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_tracking_idx_);
+    3110             : 
+    3111           0 :     if (trajectory_tracking_idx < (trajectory_size_ - 1)) {
+    3112             : 
+    3113             :       {
+    3114           0 :         std::scoped_lock lock(mutex_des_trajectory_);
+    3115             : 
+    3116           0 :         trajectory_tracking_in_progress_ = true;
+    3117             :       }
+    3118             : 
+    3119           0 :       timer_trajectory_tracking_.setPeriod(ros::Duration(trajectory_dt_));
+    3120           0 :       timer_trajectory_tracking_.start();
+    3121             : 
+    3122           0 :       ss << "trajectory tracking resumed";
+    3123           0 :       ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3124             : 
+    3125           0 :       publishDiagnostics();
+    3126             : 
+    3127           0 :       return std::tuple(true, ss.str());
+    3128             : 
+    3129             :     } else {
+    3130             : 
+    3131           0 :       ss << "can not resume trajectory tracking, trajectory is already finished";
+    3132           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3133             : 
+    3134           0 :       return std::tuple(false, ss.str());
+    3135             :     }
+    3136             : 
+    3137             :   } else {
+    3138             : 
+    3139           0 :     ss << "can not resume trajectory tracking, ther trajectory is not set";
+    3140           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3141             : 
+    3142           0 :     return std::tuple(false, ss.str());
+    3143             :   }
+    3144             : }
+    3145             : 
+    3146             : //}
+    3147             : 
+    3148             : /* stopTrajectoryTrackingImpl() //{ */
+    3149             : 
+    3150           0 : std::tuple<bool, std::string> MpcTracker::stopTrajectoryTrackingImpl(void) {
+    3151             : 
+    3152           0 :   std::stringstream ss;
+    3153             : 
+    3154           0 :   if (trajectory_tracking_in_progress_) {
+    3155             : 
+    3156           0 :     trajectory_tracking_in_progress_ = false;
+    3157           0 :     timer_trajectory_tracking_.stop();
+    3158             : 
+    3159           0 :     toggleHover(true);
+    3160             : 
+    3161           0 :     ss << "stopping trajectory tracking";
+    3162           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3163             : 
+    3164           0 :     publishDiagnostics();
+    3165             : 
+    3166             :   } else {
+    3167             : 
+    3168           0 :     ss << "can not stop trajectory tracking, already at stop";
+    3169           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3170             :   }
+    3171             : 
+    3172           0 :   return std::tuple(true, ss.str());
+    3173             : }
+    3174             : 
+    3175             : //}
+    3176             : 
+    3177             : /* gotoTrajectoryStartImpl() //{ */
+    3178             : 
+    3179           0 : std::tuple<bool, std::string> MpcTracker::gotoTrajectoryStartImpl(void) {
+    3180             : 
+    3181           0 :   std::stringstream ss;
+    3182             : 
+    3183           0 :   if (trajectory_set_) {
+    3184             : 
+    3185           0 :     toggleHover(false);
+    3186             : 
+    3187           0 :     trajectory_tracking_in_progress_ = false;
+    3188           0 :     timer_trajectory_tracking_.stop();
+    3189             : 
+    3190             :     {
+    3191           0 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3192             : 
+    3193           0 :       setGoal((*des_x_whole_trajectory_)[0], (*des_y_whole_trajectory_)[0], (*des_z_whole_trajectory_)[0], (*des_heading_whole_trajectory_)[0],
+    3194           0 :               trajectory_track_heading_);
+    3195             :     }
+    3196             : 
+    3197           0 :     publishDiagnostics();
+    3198             : 
+    3199           0 :     ss << "flying to the start of the trajectory";
+    3200           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3201             : 
+    3202           0 :     return std::tuple(true, ss.str());
+    3203             : 
+    3204             :   } else {
+    3205             : 
+    3206           0 :     ss << "can not fly to the start of the trajectory, the trajectory is not set";
+    3207           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3208             : 
+    3209           0 :     return std::tuple(false, ss.str());
+    3210             :   }
+    3211             : }
+    3212             : 
+    3213             : //}
+    3214             : 
+    3215             : // | ------------------------- support ------------------------ |
+    3216             : 
+    3217             : /* //{ publishDiagnostics() */
+    3218             : 
+    3219        6680 : void MpcTracker::publishDiagnostics(void) {
+    3220             : 
+    3221       13360 :   auto des_x_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_x_trajectory_);
+    3222       13360 :   auto des_y_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_y_trajectory_);
+    3223       13360 :   auto des_z_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_z_trajectory_);
+    3224       13360 :   auto des_heading_trajectory = mrs_lib::get_mutexed(mutex_des_trajectory_, des_heading_trajectory_);
+    3225             : 
+    3226       13360 :   mrs_msgs::MpcTrackerDiagnostics diagnostics;
+    3227             : 
+    3228        6680 :   diagnostics.header.stamp    = ros::Time::now();
+    3229        6680 :   diagnostics.header.frame_id = uav_state_.header.frame_id;
+    3230             : 
+    3231        6680 :   diagnostics.active = is_active_;
+    3232             : 
+    3233        6680 :   diagnostics.uav_name = _uav_name_;
+    3234             : 
+    3235        6680 :   diagnostics.collision_avoidance_active = collision_avoidance_enabled_;
+    3236        6680 :   diagnostics.avoiding_collision         = collision_avoidance_affecting_me_;
+    3237             : 
+    3238        6680 :   diagnostics.setpoint.position.x = des_x_trajectory(0, 0);
+    3239        6680 :   diagnostics.setpoint.position.y = des_y_trajectory(0, 0);
+    3240        6680 :   diagnostics.setpoint.position.z = des_z_trajectory(0, 0);
+    3241             : 
+    3242        6680 :   diagnostics.setpoint.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    3243             : 
+    3244       13360 :   std::stringstream ss;
+    3245             : 
+    3246             :   {
+    3247       13360 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    3248             : 
+    3249             :     // fill in if other UAVs are sending their trajectories
+    3250        6680 :     std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>::iterator u = other_uav_diagnostics_.begin();
+    3251             : 
+    3252        6680 :     while (u != other_uav_diagnostics_.end()) {
+    3253             : 
+    3254           0 :       if (u->second.collision_avoidance_active) {
+    3255             : 
+    3256             :         // is the other's trajectory fresh enought?
+    3257           0 :         if ((ros::Time::now() - u->second.header.stamp).toSec() < _collision_trajectory_timeout_) {
+    3258           0 :           diagnostics.avoidance_active_uavs.push_back(u->first);
+    3259           0 :           ss << u->first.c_str() << ", ";
+    3260             :         }
+    3261             :       }
+    3262             : 
+    3263           0 :       u++;
+    3264             :     }
+    3265             :   }
+    3266             : 
+    3267       13360 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3268             : 
+    3269        6680 :   if (ss.str().length() > 0) {
+    3270           0 :     ROS_DEBUG_STREAM_THROTTLE(5.0, "[MpcTracker]: getting avoidance trajectories: " << ss.str());
+    3271       15597 :   } else if (collision_avoidance_enabled_ &&
+    3272        8917 :       (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    3273        4656 :     ROS_DEBUG_THROTTLE(10.0, "[MpcTracker]: missing avoidance trajectories!");
+    3274             :   }
+    3275             : 
+    3276        6680 :   pub_diagnostics_.publish(diagnostics);
+    3277             : 
+    3278       13360 :   std_msgs::String string_msg;
+    3279             : 
+    3280        6680 :   if (diagnostics.avoidance_active_uavs.empty()) {
+    3281             : 
+    3282        6680 :     string_msg.data = "-id col_avoid I see: NOTHING";
+    3283             : 
+    3284             :   } else {
+    3285             : 
+    3286           0 :     string_msg.data = "-id col_avoid I see: ";
+    3287             :   }
+    3288             : 
+    3289        6680 :   if (diagnostics.avoidance_active_uavs.size() <= 3) {
+    3290             : 
+    3291        6680 :     for (size_t i = 0; i < diagnostics.avoidance_active_uavs.size(); i++) {
+    3292           0 :       if (i == 0) {
+    3293           0 :         string_msg.data += diagnostics.avoidance_active_uavs[i];
+    3294             :       } else {
+    3295           0 :         string_msg.data += ", " + diagnostics.avoidance_active_uavs[i];
+    3296             :       }
+    3297             :     }
+    3298             : 
+    3299             :   } else {
+    3300             : 
+    3301           0 :     std::stringstream ss;
+    3302           0 :     ss << diagnostics.avoidance_active_uavs.size();
+    3303             : 
+    3304           0 :     string_msg.data += ss.str() + " UAVs";
+    3305             :   }
+    3306             : 
+    3307        6680 :   pub_status_string_.publish(string_msg);
+    3308        6680 : }
+    3309             : 
+    3310             : //}
+    3311             : 
+    3312             : /* debugPrintState() //{ */
+    3313             : 
+    3314           0 : void MpcTracker::debugPrintState(const double throttle) {
+    3315             : 
+    3316           0 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3317             : 
+    3318           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC internal state: pos [%.2f, %.2f, %.2f, %.2f]", mpc_x(0), mpc_x(4), mpc_x(8), mpc_x_heading(0));
+    3319           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC internal state: vel [%.2f, %.2f, %.2f, %.2f]", mpc_x(1), mpc_x(5), mpc_x(9), mpc_x_heading(1));
+    3320           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC internal state: acc [%.2f, %.2f, %.2f, %.2f]", mpc_x(2), mpc_x(6), mpc_x(10), mpc_x_heading(2));
+    3321           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC internal state: jerk [%.2f, %.2f, %.2f, %.2f]", mpc_x(3), mpc_x(7), mpc_x(11), mpc_x_heading(3));
+    3322           0 : }
+    3323             : 
+    3324             : //}
+    3325             : 
+    3326             : /* debugPrintMPCu() //{ */
+    3327             : 
+    3328           0 : void MpcTracker::debugPrintMPCResult(const double throttle) {
+    3329             : 
+    3330           0 :   auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    3331           0 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    3332             : 
+    3333           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC result: [%.2f, %.2f, %.2f, %.2f]", mpc_u(0), mpc_u(1), mpc_u(2), mpc_u_heading);
+    3334           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: snap constraint: hor: %.2f, ver asc: %.2f, vert desc: %.2f, heading: %.2f]", constraints.horizontal_snap,
+    3335             :                      constraints.vertical_ascending_snap, constraints.vertical_descending_snap, constraints.heading_snap);
+    3336           0 : }
+    3337             : 
+    3338             : //}
+    3339             : 
+    3340             : // --------------------------------------------------------------
+    3341             : // |                           timers                           |
+    3342             : // --------------------------------------------------------------
+    3343             : 
+    3344             : /* //{ timerDiagnostics() */
+    3345             : 
+    3346             : // published diagnostics in reguar intervals
+    3347        6398 : void MpcTracker::timerDiagnostics(const ros::TimerEvent& event) {
+    3348             : 
+    3349        6398 :   if (!is_initialized_)
+    3350           0 :     return;
+    3351             : 
+    3352       19194 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.1, event);
+    3353       19194 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3354             : 
+    3355        6398 :   publishDiagnostics();
+    3356             : }
+    3357             : 
+    3358             : //}
+    3359             : 
+    3360             : /* //{ timerMPC() */
+    3361             : 
+    3362       22861 : void MpcTracker::timerMPC(const ros::TimerEvent& event) {
+    3363             : 
+    3364       22861 :   if (odometry_reset_in_progress_) {
+    3365           0 :     ROS_ERROR("[MpcTracker]: mpc iteration tried run while reseting odometry");
+    3366           0 :     return;
+    3367             :   }
+    3368             : 
+    3369       22861 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3370             : 
+    3371       22861 :   mrs_lib::AtomicScopeFlag unset_running(mpc_timer_running_);
+    3372             : 
+    3373       22861 :   bool started_with_invalid = mpc_result_invalid_;
+    3374             : 
+    3375       22861 :   if (!is_active_) {
+    3376           0 :     return;
+    3377             :   }
+    3378             : 
+    3379       22861 :   if (!is_initialized_) {
+    3380           0 :     return;
+    3381             :   }
+    3382             : 
+    3383       68583 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerMPC", 1.0 / dt1, 0.01, event);
+    3384       68583 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerMPC", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3385             : 
+    3386       22861 :   ros::Time     begin = ros::Time::now();
+    3387       22861 :   ros::Time     end;
+    3388       22861 :   ros::Duration interval;
+    3389             :   int           trajectory_id;
+    3390             : 
+    3391             :   // if we are tracking trajectory, copy the setpoint
+    3392       22861 :   if (trajectory_tracking_in_progress_) {
+    3393             : 
+    3394        1462 :     MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    3395        1462 :     VectorXd des_x_whole_trajectory, des_y_whole_trajectory, des_z_whole_trajectory, des_heading_whole_trajectory;
+    3396             :     double   trajectory_dt;
+    3397             :     int      trajectory_size;
+    3398             :     {
+    3399         731 :       std::scoped_lock lock(mutex_des_trajectory_, mutex_des_whole_trajectory_);
+    3400             : 
+    3401         731 :       des_x_trajectory       = des_x_trajectory_;
+    3402         731 :       des_y_trajectory       = des_y_trajectory_;
+    3403         731 :       des_z_trajectory       = des_z_trajectory_;
+    3404         731 :       des_heading_trajectory = des_heading_trajectory_;
+    3405             : 
+    3406         731 :       des_x_whole_trajectory       = *des_x_whole_trajectory_;
+    3407         731 :       des_y_whole_trajectory       = *des_y_whole_trajectory_;
+    3408         731 :       des_z_whole_trajectory       = *des_z_whole_trajectory_;
+    3409         731 :       des_heading_whole_trajectory = *des_heading_whole_trajectory_;
+    3410             : 
+    3411         731 :       trajectory_size = trajectory_size_;
+    3412         731 :       trajectory_dt   = trajectory_dt_;
+    3413             : 
+    3414         731 :       trajectory_id = des_whole_trajectory_id_;
+    3415             :     }
+    3416             : 
+    3417             :     /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    3418             : 
+    3419         731 :     int trajectory_tracking_sub_idx = trajectory_tracking_sub_idx_;
+    3420         731 :     int trajectory_tracking_idx     = trajectory_tracking_idx_;
+    3421             : 
+    3422       29971 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3423             : 
+    3424       29240 :       double first_time = dt1 + i * _dt2_ + trajectory_tracking_sub_idx * dt1;
+    3425             : 
+    3426       29240 :       int first_idx  = trajectory_tracking_idx + int(floor(first_time / trajectory_dt));
+    3427       29240 :       int second_idx = first_idx + 1;
+    3428             : 
+    3429       29240 :       double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    3430             : 
+    3431       29240 :       if (trajectory_tracking_loop_) {
+    3432             : 
+    3433           0 :         if (second_idx >= trajectory_size) {
+    3434           0 :           second_idx = second_idx % trajectory_size;
+    3435             :         }
+    3436             : 
+    3437           0 :         if (first_idx >= trajectory_size) {
+    3438           0 :           first_idx = first_idx % trajectory_size;
+    3439             :         }
+    3440             : 
+    3441             :       } else {
+    3442             : 
+    3443       29240 :         if (second_idx >= trajectory_size) {
+    3444       14729 :           second_idx = trajectory_size - 1;
+    3445             :         }
+    3446             : 
+    3447       29240 :         if (first_idx >= trajectory_size) {
+    3448       13998 :           first_idx = trajectory_size - 1;
+    3449             :         }
+    3450             :       }
+    3451             : 
+    3452       29240 :       des_x_trajectory(i, 0) = (1 - interp_coeff) * des_x_whole_trajectory[first_idx] + interp_coeff * des_x_whole_trajectory[second_idx];
+    3453       29240 :       des_y_trajectory(i, 0) = (1 - interp_coeff) * des_y_whole_trajectory[first_idx] + interp_coeff * des_y_whole_trajectory[second_idx];
+    3454       29240 :       des_z_trajectory(i, 0) = (1 - interp_coeff) * des_z_whole_trajectory[first_idx] + interp_coeff * des_z_whole_trajectory[second_idx];
+    3455             : 
+    3456       29240 :       des_heading_trajectory(i, 0) = sradians::interp(des_heading_whole_trajectory[first_idx], des_heading_whole_trajectory[second_idx], interp_coeff);
+    3457             :     }
+    3458             : 
+    3459             :     {
+    3460        1462 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3461             : 
+    3462         731 :       des_x_trajectory_       = des_x_trajectory;
+    3463         731 :       des_y_trajectory_       = des_y_trajectory;
+    3464         731 :       des_z_trajectory_       = des_z_trajectory;
+    3465         731 :       des_heading_trajectory_ = des_heading_trajectory;
+    3466             :     }
+    3467             : 
+    3468             :     //}
+    3469             : 
+    3470             :     // increase the trajectory subsampling counter
+    3471             :     {
+    3472         731 :       std::scoped_lock lock(mutex_trajectory_tracking_states_);
+    3473             : 
+    3474         731 :       trajectory_tracking_sub_idx_++;
+    3475             :     }
+    3476             :   } else {
+    3477             : 
+    3478       22130 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3479             : 
+    3480       22130 :     trajectory_id = des_whole_trajectory_id_;
+    3481             :   }
+    3482             : 
+    3483       22861 :   manageConstraints();
+    3484             : 
+    3485       22861 :   calculateMPC();
+    3486             : 
+    3487       22861 :   end      = ros::Time::now();
+    3488       22861 :   interval = end - begin;
+    3489             : 
+    3490             :   // | ------------------ calculate the MPC RTF ----------------- |
+    3491             : 
+    3492       22861 :   mpc_rtf_ = 0.99 * mpc_rtf_ + 0.01 * (interval.toSec()/dt1);
+    3493             : 
+    3494       22861 :   if (mpc_rtf_ >= 1.0) {
+    3495           0 :     ROS_WARN_THROTTLE(5.0, "[MpcTracker] MPC Real Time Factor (%.3f) is slow", mpc_rtf_);
+    3496             :   }
+    3497             : 
+    3498             :   /* publish predicted future //{ */
+    3499             : 
+    3500             :   {
+    3501       45722 :     geometry_msgs::PoseArray debug_trajectory_out;
+    3502       22861 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    3503       22861 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    3504             : 
+    3505             :     {
+    3506       45722 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3507             : 
+    3508      937301 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3509             : 
+    3510      914440 :         geometry_msgs::Pose newPose;
+    3511             : 
+    3512      914440 :         newPose.position.x = predicted_trajectory_(i * _mpc_n_states_);
+    3513      914440 :         newPose.position.y = predicted_trajectory_(i * _mpc_n_states_ + 4);
+    3514      914440 :         newPose.position.z = predicted_trajectory_(i * _mpc_n_states_ + 8);
+    3515             : 
+    3516             :         try {
+    3517      914440 :           newPose.orientation = mrs_lib::AttitudeConverter(0, 0, predicted_heading_trajectory_(i * _mpc_n_states_));
+    3518           0 :         } catch (...) {
+    3519           0 :           ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: failed to fill orientation into debug print trajectory");
+    3520             :         }
+    3521             : 
+    3522      914440 :         debug_trajectory_out.poses.push_back(newPose);
+    3523             :       }
+    3524             :     }
+    3525             : 
+    3526       22861 :     ph_predicted_trajectory_debugging_.publish(debug_trajectory_out);
+    3527             :   }
+    3528             : 
+    3529             :   //}
+    3530             : 
+    3531             :   /* publish full state prediction //{ */
+    3532             : 
+    3533             :   {
+    3534       45722 :     mrs_msgs::MpcPredictionFullState prediction_fs_out;
+    3535       22861 :     prediction_fs_out.header.stamp    = ros::Time::now();
+    3536       22861 :     prediction_fs_out.header.frame_id = uav_state_.header.frame_id;
+    3537             : 
+    3538       22861 :     ros::Time stamp = prediction_fs_out.header.stamp;
+    3539             : 
+    3540       22861 :     prediction_fs_out.input_id = trajectory_id;
+    3541             : 
+    3542             :     {
+    3543       45722 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3544             : 
+    3545      937301 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3546             : 
+    3547      914440 :         if (i == 0) {
+    3548       22861 :           stamp += ros::Duration(0.01);
+    3549             :         } else {
+    3550      891579 :           stamp += ros::Duration(0.2);
+    3551             :         }
+    3552             : 
+    3553      914440 :         prediction_fs_out.stamps.push_back(stamp);
+    3554             : 
+    3555             :         {  // position
+    3556      914440 :           geometry_msgs::Point point;
+    3557             : 
+    3558      914440 :           point.x = predicted_trajectory_(i * _mpc_n_states_);
+    3559      914440 :           point.y = predicted_trajectory_(i * _mpc_n_states_ + 4);
+    3560      914440 :           point.z = predicted_trajectory_(i * _mpc_n_states_ + 8);
+    3561             : 
+    3562      914440 :           prediction_fs_out.position.push_back(point);
+    3563             :         }
+    3564             : 
+    3565             :         {  // velocity
+    3566      914440 :           geometry_msgs::Vector3 vector;
+    3567             : 
+    3568      914440 :           vector.x = predicted_trajectory_(i * _mpc_n_states_ + 1);
+    3569      914440 :           vector.y = predicted_trajectory_(i * _mpc_n_states_ + 5);
+    3570      914440 :           vector.z = predicted_trajectory_(i * _mpc_n_states_ + 9);
+    3571             : 
+    3572      914440 :           prediction_fs_out.velocity.push_back(vector);
+    3573             :         }
+    3574             : 
+    3575             :         {  // acceleration
+    3576      914440 :           geometry_msgs::Vector3 vector3;
+    3577             : 
+    3578      914440 :           vector3.x = predicted_trajectory_(i * _mpc_n_states_ + 2);
+    3579      914440 :           vector3.y = predicted_trajectory_(i * _mpc_n_states_ + 6);
+    3580      914440 :           vector3.z = predicted_trajectory_(i * _mpc_n_states_ + 10);
+    3581             : 
+    3582      914440 :           prediction_fs_out.acceleration.push_back(vector3);
+    3583             :         }
+    3584             : 
+    3585             :         {  // jerk
+    3586      914440 :           geometry_msgs::Vector3 vector3;
+    3587             : 
+    3588      914440 :           vector3.x = predicted_trajectory_(i * _mpc_n_states_ + 3);
+    3589      914440 :           vector3.y = predicted_trajectory_(i * _mpc_n_states_ + 7);
+    3590      914440 :           vector3.z = predicted_trajectory_(i * _mpc_n_states_ + 11);
+    3591             : 
+    3592      914440 :           prediction_fs_out.jerk.push_back(vector3);
+    3593             :         }
+    3594             : 
+    3595             :         {
+    3596             :           // heading
+    3597             : 
+    3598      914440 :           prediction_fs_out.heading.push_back(predicted_heading_trajectory_(i * _mpc_n_states_));
+    3599      914440 :           prediction_fs_out.heading_rate.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 1));
+    3600      914440 :           prediction_fs_out.heading_acceleration.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 2));
+    3601      914440 :           prediction_fs_out.heading_jerk.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 3));
+    3602             :         }
+    3603             :       }
+    3604             :     }
+    3605             : 
+    3606             :     {
+    3607       45722 :       std::scoped_lock lock(mutex_prediction_full_state_);
+    3608       22861 :       prediction_full_state_ = prediction_fs_out;
+    3609             :     }
+    3610             :   }
+    3611             : 
+    3612             :   //}
+    3613             : 
+    3614       22861 :   mpc_computed_ = true;
+    3615             : 
+    3616       22861 :   if (started_with_invalid) {
+    3617             : 
+    3618           0 :     mpc_result_invalid_ = false;
+    3619             : 
+    3620           0 :     ROS_INFO("[MpcTracker]: calculated the first MPC result after invalidation");
+    3621             :   }
+    3622             : }
+    3623             : 
+    3624             : //}
+    3625             : 
+    3626             : /* timerTrajectoryTracking() //{ */
+    3627             : 
+    3628          40 : void MpcTracker::timerTrajectoryTracking(const ros::TimerEvent& event) {
+    3629             : 
+    3630          40 :   auto trajectory_size = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_);
+    3631          40 :   auto trajectory_dt   = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_dt_);
+    3632             : 
+    3633         120 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerTrajectoryTracking", int(1.0 / trajectory_dt), 0.01, event);
+    3634             :   mrs_lib::ScopeTimer timer =
+    3635         120 :       mrs_lib::ScopeTimer("MpcTracker::timerTrajectoryTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3636             : 
+    3637             :   {
+    3638          80 :     std::scoped_lock lock(mutex_trajectory_tracking_states_);
+    3639             : 
+    3640             :     // do a step of the main tracking idx
+    3641             : 
+    3642             :     // reset the subsampling counter
+    3643          40 :     trajectory_tracking_sub_idx_ = 0;
+    3644             : 
+    3645             :     // INCREMENT THE TRACKING IDX
+    3646          40 :     trajectory_tracking_idx_++;
+    3647             : 
+    3648             :     // if the tracking idx hits the end of the trajectory
+    3649          40 :     if (trajectory_tracking_idx_ == trajectory_size) {
+    3650             : 
+    3651           1 :       if (trajectory_tracking_loop_) {
+    3652             : 
+    3653             :         // reset the idx
+    3654           0 :         trajectory_tracking_idx_ = 0;
+    3655             : 
+    3656           0 :         ROS_INFO("[MpcTracker]: trajectory looped");
+    3657             : 
+    3658             :       } else {
+    3659             : 
+    3660           1 :         trajectory_tracking_in_progress_ = false;
+    3661             : 
+    3662             :         // set the idx to the last idx of the trajectory
+    3663           1 :         trajectory_tracking_idx_ = trajectory_size - 1;
+    3664             : 
+    3665           1 :         timer_trajectory_tracking_.stop();
+    3666             : 
+    3667           1 :         ROS_INFO("[MpcTracker]: done tracking trajectory");
+    3668             :       }
+    3669             :     }
+    3670             :   }
+    3671             : 
+    3672          40 :   publishDiagnostics();
+    3673          40 : }
+    3674             : 
+    3675             : //}
+    3676             : 
+    3677             : /* timerVelocityTracking() //{ */
+    3678             : 
+    3679           0 : void MpcTracker::timerVelocityTracking(const ros::TimerEvent& event) {
+    3680             : 
+    3681           0 :   if (!is_initialized_) {
+    3682           0 :     return;
+    3683             :   }
+    3684             : 
+    3685           0 :   if (!velocity_tracking_active_) {
+    3686           0 :     return;
+    3687             :   }
+    3688             : 
+    3689           0 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerVelocityTracking", int(30.0), 0.01, event);
+    3690             :   mrs_lib::ScopeTimer timer =
+    3691           0 :       mrs_lib::ScopeTimer("MpcTracker::timerVelocityTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3692             : 
+    3693             :   // stop the timer when timeout
+    3694           0 :   if ((ros::Time::now() - velocity_reference_time_).toSec() > 0.5) {
+    3695             : 
+    3696           0 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: velocity reference timeouted, hovering");
+    3697           0 :     timer_velocity_tracking_.stop();
+    3698             : 
+    3699           0 :     toggleHover(true);
+    3700             : 
+    3701           0 :     velocity_tracking_active_ = false;
+    3702             : 
+    3703           0 :     return;
+    3704             :   }
+    3705             : 
+    3706           0 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3707           0 :   auto velocity_reference     = mrs_lib::get_mutexed(mutex_velocity_reference_, velocity_reference_);
+    3708             : 
+    3709           0 :   mrs_msgs::TrajectoryReference trajectory;
+    3710             : 
+    3711           0 :   trajectory.fly_now         = true;
+    3712           0 :   trajectory.use_heading     = true;
+    3713           0 :   trajectory.dt              = 0.2;
+    3714           0 :   trajectory.header.stamp    = ros::Time::now();
+    3715           0 :   trajectory.header.frame_id = "";
+    3716             : 
+    3717           0 :   double x       = mpc_x(0, 0);
+    3718           0 :   double y       = mpc_x(4, 0);
+    3719           0 :   double z       = mpc_x(8, 0);
+    3720           0 :   double heading = mpc_x_heading(0, 0);
+    3721             : 
+    3722           0 :   for (int i = 0; i < 50; i++) {
+    3723             : 
+    3724           0 :     mrs_msgs::Reference reference;
+    3725           0 :     reference.position.x = x;
+    3726           0 :     reference.position.y = y;
+    3727           0 :     reference.position.z = z;
+    3728           0 :     reference.heading    = heading;
+    3729             : 
+    3730           0 :     trajectory.points.push_back(reference);
+    3731             : 
+    3732           0 :     x += velocity_reference.velocity.x * trajectory.dt;
+    3733           0 :     y += velocity_reference.velocity.y * trajectory.dt;
+    3734           0 :     z += velocity_reference.velocity.z * trajectory.dt;
+    3735             : 
+    3736           0 :     if (velocity_reference.use_altitude) {
+    3737           0 :       z = velocity_reference.altitude;
+    3738             :     }
+    3739             : 
+    3740           0 :     if (velocity_reference.use_heading_rate) {
+    3741           0 :       heading += velocity_reference.heading_rate * trajectory.dt;
+    3742           0 :     } else if (velocity_reference.use_heading) {
+    3743           0 :       heading = velocity_reference.heading;
+    3744             :     }
+    3745             :   }
+    3746             : 
+    3747           0 :   auto [success, message, modified] = loadTrajectory(trajectory);
+    3748             : }
+    3749             : 
+    3750             : //}
+    3751             : 
+    3752             : /* //{ timerAvoidanceTrajectory() */
+    3753             : 
+    3754        1263 : void MpcTracker::timerAvoidanceTrajectory(const ros::TimerEvent& event) {
+    3755             : 
+    3756        1263 :   if (!is_active_) {
+    3757         685 :     return;
+    3758             :   }
+    3759             : 
+    3760         618 :   if (!is_initialized_) {
+    3761           0 :     return;
+    3762             :   }
+    3763             : 
+    3764         618 :   if (!sh_estimation_diag_.hasMsg()) {
+    3765           0 :     return;
+    3766             :   } else {
+    3767             :     // we won't try to transform and publish the avoidance prediction if we cannot transform it
+    3768             : 
+    3769         618 :     auto                     estimation_diag      = sh_estimation_diag_.getMsg();
+    3770         618 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    3771             : 
+    3772         618 :     bool got_gps_est = std::find(state_estimators.begin(), state_estimators.end(), "gps_garmin") != state_estimators.end() || std::find(state_estimators.begin(), state_estimators.end(), "gps_baro") != state_estimators.end();
+    3773         618 :     bool got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    3774             : 
+    3775         618 :     if (!got_gps_est && !got_rtk_est) {
+    3776          40 :       return;
+    3777             :     }
+    3778             :   }
+    3779             : 
+    3780        1156 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerAvoidanceTrajectory", _avoidance_trajectory_rate_, 0.1, event);
+    3781             :   mrs_lib::ScopeTimer timer =
+    3782        1156 :       mrs_lib::ScopeTimer("MpcTracker::timerAvoidanceTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3783             : 
+    3784         578 :   auto uav_state            = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3785         578 :   auto predicted_trajectory = mrs_lib::get_mutexed(mutex_predicted_trajectory_, predicted_trajectory_);
+    3786             : 
+    3787         578 :   if (future_was_predicted_) {
+    3788             : 
+    3789         578 :     mrs_msgs::FutureTrajectory avoidance_trajectory;
+    3790             : 
+    3791             :     // fill last trajectory with initial data
+    3792         578 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3793         578 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3794         578 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3795         578 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk");
+    3796         578 :     avoidance_trajectory.points.clear();
+    3797         578 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3798         578 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3799         578 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3800         578 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_;
+    3801             : 
+    3802        1156 :     auto res = common_handlers_->transformer->getTransform(uav_state.header.frame_id, "utm_origin", ros::Time::now());
+    3803             : 
+    3804         578 :     if (!res) {
+    3805             : 
+    3806           0 :       std::string message = "[MpcTracker]: can not transform predicted future to utm_origin";
+    3807           0 :       ROS_WARN_STREAM_ONCE(message);
+    3808           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3809           0 :       return;
+    3810             : 
+    3811             :     } else {
+    3812             : 
+    3813        1156 :       geometry_msgs::TransformStamped tf = res.value();
+    3814             : 
+    3815       23698 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3816             : 
+    3817             :         // original point
+    3818       46240 :         geometry_msgs::PoseStamped original_point;
+    3819             : 
+    3820       23120 :         original_point.header.stamp    = ros::Time::now();
+    3821       23120 :         original_point.header.frame_id = uav_state.header.frame_id;
+    3822             : 
+    3823       23120 :         original_point.pose.position.x = predicted_trajectory(i * _mpc_n_states_);
+    3824       23120 :         original_point.pose.position.y = predicted_trajectory(i * _mpc_n_states_ + 4);
+    3825       23120 :         original_point.pose.position.z = predicted_trajectory(i * _mpc_n_states_ + 8);
+    3826             : 
+    3827       23120 :         original_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    3828             : 
+    3829       46240 :         auto res = common_handlers_->transformer->transform(original_point, tf);
+    3830             : 
+    3831       23120 :         if (res) {
+    3832             : 
+    3833       23120 :           mrs_msgs::FuturePoint new_point;
+    3834             : 
+    3835       23120 :           new_point.x = res.value().pose.position.x;
+    3836       23120 :           new_point.y = res.value().pose.position.y;
+    3837       23120 :           new_point.z = res.value().pose.position.z;
+    3838             : 
+    3839       23120 :           avoidance_trajectory.points.push_back(new_point);
+    3840             : 
+    3841             :         } else {
+    3842             : 
+    3843           0 :           std::string message = "[MpcTracker]: can not transform a point of a future trajectory";
+    3844           0 :           ROS_WARN_STREAM_ONCE(message);
+    3845           0 :           ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3846             :         }
+    3847             :       }
+    3848             :     }
+    3849             : 
+    3850         578 :     ph_avoidance_trajectory_.publish(avoidance_trajectory);
+    3851             :   }
+    3852             : }
+    3853             : 
+    3854             : //}
+    3855             : 
+    3856             : /* timerHover() //{ */
+    3857             : 
+    3858         154 : void MpcTracker::timerHover(const ros::TimerEvent& event) {
+    3859             : 
+    3860         308 :   MatrixXd mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    3861             : 
+    3862         462 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerHover", 10, 0.01, event);
+    3863         462 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerHover", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3864             : 
+    3865         154 :   setRelativeGoal(0, 0, 0, 0, false);
+    3866             : 
+    3867         154 :   if (fabs(mpc_x(1, 0)) < 0.1 && fabs(mpc_x(5, 0)) < 0.1 && fabs(mpc_x(9, 0)) < 0.1) {
+    3868             : 
+    3869          44 :     toggleHover(false);
+    3870             : 
+    3871          44 :     ROS_INFO("[MpcTracker]: timerHover: speed is low, stopping hover timer");
+    3872             :   }
+    3873         154 : }
+    3874             : 
+    3875             : //}
+    3876             : 
+    3877             : }  // namespace mpc_tracker
+    3878             : 
+    3879             : }  // namespace mrs_uav_trackers
+    3880             : 
+    3881             : #include <pluginlib/class_list_macros.h>
+    3882          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::mpc_tracker::MpcTracker, mrs_uav_managers::Tracker)
+
+
+
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5841114.1 %
Date:2023-12-06 10:06:33Functions:71936.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
speed_tracker.cpp +
14.1%14.1%
+ 		14.1 %58 / 41136.8 %7 / 19
<unnamed>14.1 %58 / 41136.8 %7 / 19
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/index-detail-sort-l.html b/mrs_uav_trackers/src/speed_tracker/index-detail-sort-l.html new file mode 100644 index 0000000000..7c67624009 --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/index-detail-sort-l.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5841114.1 %
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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
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Date:2023-12-06 10:06:33Functions:71936.8 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::speed_tracker::SpeedTracker::resetStatic()0
mrs_uav_trackers::speed_tracker::SpeedTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::callbackCommand(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)0
mrs_uav_trackers::speed_tracker::SpeedTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::getStatus()0
mrs_uav_trackers::speed_tracker::SpeedTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::speed_tracker::SpeedTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()6
(anonymous namespace)::ProxyExec0::ProxyExec0()47
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>)47
mrs_uav_trackers::speed_tracker::SpeedTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5841114.1 %
Date:2023-12-06 10:06:33Functions:71936.8 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()47
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()6
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>)47
mrs_uav_trackers::speed_tracker::SpeedTracker::resetStatic()0
mrs_uav_trackers::speed_tracker::SpeedTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)147
mrs_uav_trackers::speed_tracker::SpeedTracker::callbackCommand(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)0
mrs_uav_trackers::speed_tracker::SpeedTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::speed_tracker::SpeedTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::speed_tracker::SpeedTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)38166
mrs_uav_trackers::speed_tracker::SpeedTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::getStatus()0
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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5841114.1 %
Date:2023-12-06 10:06:33Functions:71936.8 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : 
+       5             : #include <mrs_uav_managers/tracker.h>
+       6             : 
+       7             : #include <mrs_msgs/SpeedTrackerCommand.h>
+       8             : #include <mrs_msgs/VelocityReferenceSrv.h>
+       9             : 
+      10             : #include <mrs_lib/profiler.h>
+      11             : #include <mrs_lib/mutex.h>
+      12             : #include <mrs_lib/attitude_converter.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/geometry/cyclic.h>
+      15             : #include <mrs_lib/geometry/misc.h>
+      16             : #include <mrs_lib/publisher_handler.h>
+      17             : 
+      18             : #include <visualization_msgs/Marker.h>
+      19             : #include <visualization_msgs/MarkerArray.h>
+      20             : 
+      21             : //}
+      22             : 
+      23             : /* defines //{ */
+      24             : 
+      25             : #define STOP_THR 1e-3
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* using //{ */
+      30             : 
+      31             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      32             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      33             : 
+      34             : using radians  = mrs_lib::geometry::radians;
+      35             : using sradians = mrs_lib::geometry::sradians;
+      36             : 
+      37             : //}
+      38             : 
+      39             : namespace mrs_uav_trackers
+      40             : {
+      41             : 
+      42             : namespace speed_tracker
+      43             : {
+      44             : 
+      45             : /* //{ class SpeedTracker */
+      46             : 
+      47             : class SpeedTracker : public mrs_uav_managers::Tracker {
+      48             : public:
+      49             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      50             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      51             : 
+      52             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      53             :   void                          deactivate(void);
+      54             :   bool                          resetStatic(void);
+      55             : 
+      56             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      57             :   const mrs_msgs::TrackerStatus             getStatus();
+      58             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      59             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      60             : 
+      61             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      62             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      63             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      64             : 
+      65             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      66             : 
+      67             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      68             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      69             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      70             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      71             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      72             : 
+      73             : private:
+      74             :   ros::NodeHandle nh_;
+      75             : 
+      76             :   bool callbacks_enabled_ = true;
+      77             : 
+      78             :   std::string _uav_name_;
+      79             : 
+      80             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      81             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      82             : 
+      83             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> ph_rviz_marker_;
+      84             : 
+      85             :   // | ------------------------ uav state ----------------------- |
+      86             : 
+      87             :   mrs_msgs::UavState uav_state_;
+      88             :   bool               got_uav_state_ = false;
+      89             :   std::mutex         mutex_uav_state_;
+      90             : 
+      91             :   // | ------------------- tracker constraints ------------------ |
+      92             : 
+      93             :   mrs_msgs::DynamicsConstraints constraints_;
+      94             :   std::mutex                    mutex_constraints_;
+      95             : 
+      96             :   // | ---------------- the tracker's inner state --------------- |
+      97             : 
+      98             :   bool is_initialized_  = false;
+      99             :   bool is_active_       = false;
+     100             :   bool first_iteration_ = true;
+     101             : 
+     102             :   double _external_command_timeout_;
+     103             : 
+     104             :   mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand> sh_command_;
+     105             : 
+     106             :   void callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr msg);
+     107             : 
+     108             :   // stores the post-processed and transformed command
+     109             :   mrs_msgs::SpeedTrackerCommand command_;
+     110             :   std::mutex                    mutex_command_;
+     111             :   ros::Time                     last_command_time_;
+     112             : 
+     113             :   // | ------------------------ profiler ------------------------ |
+     114             : 
+     115             :   mrs_lib::Profiler profiler_;
+     116             :   bool              _profiler_enabled_ = false;
+     117             : };
+     118             : 
+     119             : //}
+     120             : 
+     121             : // | -------------- tracker's interface routines -------------- |
+     122             : 
+     123             : /* //{ initialize() */
+     124             : 
+     125          47 : 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          47 :   this->common_handlers_  = common_handlers;
+     129          47 :   this->private_handlers_ = private_handlers;
+     130             : 
+     131          47 :   _uav_name_ = common_handlers->uav_name;
+     132             : 
+     133          47 :   nh_ = nh;
+     134             : 
+     135          47 :   ros::Time::waitForValid();
+     136             : 
+     137             :   // --------------------------------------------------------------
+     138             :   // |                     loading parameters                     |
+     139             :   // --------------------------------------------------------------
+     140             : 
+     141             :   // | ---------------- load parent's parameters ---------------- |
+     142             : 
+     143          94 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     144             : 
+     145          47 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     146             : 
+     147          47 :   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          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/speed_tracker.yaml");
+     155          47 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/speed_tracker.yaml");
+     156             : 
+     157          94 :   const std::string yaml_prefix = "mrs_uav_trackers/speed_tracker/";
+     158             : 
+     159          47 :   private_handlers->param_loader->loadParam(yaml_prefix + "command_timeout", _external_command_timeout_);
+     160             : 
+     161          47 :   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          47 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "SpeedTracker", _profiler_enabled_);
+     169             : 
+     170             :   // | ----------------------- subscribers ---------------------- |
+     171             : 
+     172          47 :   mrs_lib::SubscribeHandlerOptions shopts;
+     173          47 :   shopts.nh              = nh_;
+     174          47 :   shopts.node_name       = "SpeedTracker";
+     175          47 :   shopts.threadsafe      = true;
+     176          47 :   shopts.autostart       = true;
+     177          47 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     178             : 
+     179          47 :   sh_command_ = mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand>(shopts, "command", &SpeedTracker::callbackCommand, this);
+     180             : 
+     181             :   // | ----------------------- publishers ----------------------- |
+     182             : 
+     183          47 :   ph_rviz_marker_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "rviz_marker", 1);
+     184             : 
+     185             :   // | --------------------- finish the init -------------------- |
+     186             : 
+     187          47 :   is_initialized_ = true;
+     188             : 
+     189          47 :   ROS_INFO("[SpeedTracker]: initialized");
+     190             : 
+     191          47 :   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           6 : void SpeedTracker::deactivate(void) {
+     236             : 
+     237           6 :   is_active_ = false;
+     238             : 
+     239           6 :   ROS_INFO("[SpeedTracker]: deactivated");
+     240           6 : }
+     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       38166 : 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      114498 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     259      114498 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     260             : 
+     261             :   {
+     262       38166 :     std::scoped_lock lock(mutex_uav_state_);
+     263             : 
+     264       38166 :     uav_state_ = uav_state;
+     265             : 
+     266       38166 :     got_uav_state_ = true;
+     267             :   }
+     268             : 
+     269             :   double uav_heading;
+     270             : 
+     271             :   try {
+     272       38166 :     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       38166 :   if (!is_active_) {
+     282       38166 :     return {};
+     283             :   }
+     284             : 
+     285           0 :   ros::Time external_command_time = sh_command_.lastMsgTime();
+     286             : 
+     287             :   // timeout the external command
+     288           0 :   if (sh_command_.hasMsg() && (ros::Time::now() - external_command_time).toSec() > _external_command_timeout_) {
+     289           0 :     ROS_ERROR("[SpeedTracker]: command timeouted, returning nil");
+     290           0 :     first_iteration_ = true;
+     291           0 :     return {};
+     292             :   }
+     293             : 
+     294           0 :   auto command = mrs_lib::get_mutexed(mutex_command_, command_);
+     295             : 
+     296           0 :   mrs_msgs::TrackerCommand tracker_cmd;
+     297             : 
+     298           0 :   tracker_cmd.header.stamp    = ros::Time::now();
+     299           0 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     300             : 
+     301           0 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     302           0 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     303             : 
+     304           0 :   if (command.use_velocity) {
+     305           0 :     tracker_cmd.velocity.x              = command.velocity.x;
+     306           0 :     tracker_cmd.velocity.y              = command.velocity.y;
+     307           0 :     tracker_cmd.velocity.z              = command.velocity.z;
+     308           0 :     tracker_cmd.use_velocity_horizontal = true;
+     309           0 :     tracker_cmd.use_velocity_vertical   = true;
+     310             :   } else {
+     311           0 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     312           0 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     313           0 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     314           0 :     tracker_cmd.use_velocity_horizontal = false;
+     315           0 :     tracker_cmd.use_velocity_vertical   = false;
+     316             :   }
+     317             : 
+     318           0 :   if (command.use_z) {
+     319           0 :     tracker_cmd.position.z            = command.z;
+     320           0 :     tracker_cmd.use_position_vertical = true;
+     321             :   } else {
+     322           0 :     tracker_cmd.position.z            = uav_state.pose.position.z;
+     323           0 :     tracker_cmd.use_position_vertical = false;
+     324             :   }
+     325             : 
+     326           0 :   if (command.use_acceleration) {
+     327           0 :     tracker_cmd.acceleration.x   = command.acceleration.x;
+     328           0 :     tracker_cmd.acceleration.y   = command.acceleration.y;
+     329           0 :     tracker_cmd.acceleration.z   = command.acceleration.z;
+     330           0 :     tracker_cmd.use_acceleration = true;
+     331           0 :   } else if (command.use_force) {
+     332           0 :     tracker_cmd.acceleration.x   = command.force.x / last_control_output.diagnostics.total_mass;
+     333           0 :     tracker_cmd.acceleration.y   = command.force.y / last_control_output.diagnostics.total_mass;
+     334           0 :     tracker_cmd.acceleration.z   = command.force.z / last_control_output.diagnostics.total_mass;
+     335           0 :     tracker_cmd.use_acceleration = true;
+     336             :   } else {
+     337           0 :     tracker_cmd.acceleration.x   = 0;
+     338           0 :     tracker_cmd.acceleration.y   = 0;
+     339           0 :     tracker_cmd.acceleration.z   = 0;
+     340           0 :     tracker_cmd.use_acceleration = false;
+     341             :   }
+     342             : 
+     343           0 :   if (command.use_heading) {
+     344           0 :     tracker_cmd.heading     = command.heading;
+     345           0 :     tracker_cmd.use_heading = true;
+     346             :   } else {
+     347           0 :     tracker_cmd.heading     = uav_heading;
+     348           0 :     tracker_cmd.use_heading = false;
+     349             :   }
+     350             : 
+     351           0 :   if (command.use_heading_rate) {
+     352           0 :     tracker_cmd.heading_rate     = command.heading_rate;
+     353           0 :     tracker_cmd.use_heading_rate = true;
+     354             :   } else {
+     355           0 :     tracker_cmd.heading_rate     = uav_state.velocity.angular.z;
+     356           0 :     tracker_cmd.use_heading_rate = false;
+     357             :   }
+     358             : 
+     359           0 :   return {tracker_cmd};
+     360             : }
+     361             : 
+     362             : //}
+     363             : 
+     364             : /* //{ getStatus() */
+     365             : 
+     366           0 : const mrs_msgs::TrackerStatus SpeedTracker::getStatus() {
+     367             : 
+     368           0 :   mrs_msgs::TrackerStatus tracker_status;
+     369             : 
+     370           0 :   tracker_status.active            = is_active_;
+     371           0 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     372             : 
+     373           0 :   return tracker_status;
+     374             : }
+     375             : 
+     376             : //}
+     377             : 
+     378             : /* //{ enableCallbacks() */
+     379             : 
+     380           2 : const std_srvs::SetBoolResponse::ConstPtr SpeedTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     381             : 
+     382           4 :   std_srvs::SetBoolResponse res;
+     383           4 :   std::stringstream         ss;
+     384             : 
+     385           2 :   if (cmd->data != callbacks_enabled_) {
+     386             : 
+     387           0 :     callbacks_enabled_ = cmd->data;
+     388             : 
+     389           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     390           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     391             : 
+     392             :   } else {
+     393             : 
+     394           2 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     395           2 :     ROS_WARN_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     396             :   }
+     397             : 
+     398           2 :   res.message = ss.str();
+     399           2 :   res.success = true;
+     400             : 
+     401           4 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     402             : }
+     403             : 
+     404             : //}
+     405             : 
+     406             : /* switchOdometrySource() //{ */
+     407             : 
+     408           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     409             : 
+     410           0 :   return std_srvs::TriggerResponse::Ptr();
+     411             : }
+     412             : 
+     413             : //}
+     414             : 
+     415             : /* //{ hover() */
+     416             : 
+     417           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     418             : 
+     419           0 :   return std_srvs::TriggerResponse::Ptr();
+     420             : }
+     421             : 
+     422             : //}
+     423             : 
+     424             : /* //{ startTrajectoryTracking() */
+     425             : 
+     426           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     427           0 :   return std_srvs::TriggerResponse::Ptr();
+     428             : }
+     429             : 
+     430             : //}
+     431             : 
+     432             : /* //{ stopTrajectoryTracking() */
+     433             : 
+     434           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     435           0 :   return std_srvs::TriggerResponse::Ptr();
+     436             : }
+     437             : 
+     438             : //}
+     439             : 
+     440             : /* //{ resumeTrajectoryTracking() */
+     441             : 
+     442           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     443           0 :   return std_srvs::TriggerResponse::Ptr();
+     444             : }
+     445             : 
+     446             : //}
+     447             : 
+     448             : /* //{ gotoTrajectoryStart() */
+     449             : 
+     450           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     451           0 :   return std_srvs::TriggerResponse::Ptr();
+     452             : }
+     453             : 
+     454             : //}
+     455             : 
+     456             : /* //{ setConstraints() */
+     457             : 
+     458         147 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr SpeedTracker::setConstraints([
+     459             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     460             : 
+     461             :   {
+     462         147 :     std::scoped_lock lock(mutex_constraints_);
+     463             : 
+     464         147 :     constraints_ = cmd->constraints;
+     465             :   }
+     466             : 
+     467         294 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     468             : 
+     469         147 :   res.success = true;
+     470         147 :   res.message = "constraints updated";
+     471             : 
+     472         294 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     473             : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : /* //{ setReference() */
+     478             : 
+     479           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr SpeedTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     480             : 
+     481           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     482             : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ setVelocityReference() */
+     487             : 
+     488           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr SpeedTracker::setVelocityReference([
+     489             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     490           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     491             : }
+     492             : 
+     493             : //}
+     494             : 
+     495             : /* //{ setTrajectoryReference() */
+     496             : 
+     497           1 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr SpeedTracker::setTrajectoryReference([
+     498             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     499           1 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     500             : }
+     501             : 
+     502             : //}
+     503             : 
+     504             : // | --------------------- custom methods --------------------- |
+     505             : 
+     506             : /* callbackCommand() //{ */
+     507             : 
+     508           0 : void SpeedTracker::callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr msg) {
+     509             : 
+     510           0 :   if (!is_initialized_)
+     511           0 :     return;
+     512             : 
+     513           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackCommand");
+     514           0 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::callbackCommand", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     515             : 
+     516           0 :   mrs_msgs::SpeedTrackerCommandConstPtr external_command = msg;
+     517             : 
+     518             :   double dt;
+     519           0 :   if (first_iteration_) {
+     520             : 
+     521           0 :     last_command_time_ = ros::Time::now();
+     522           0 :     first_iteration_   = false;
+     523             : 
+     524             :     {
+     525           0 :       std::scoped_lock lock(mutex_command_);
+     526             : 
+     527           0 :       command_ = *external_command;
+     528             :     }
+     529             : 
+     530           0 :     return;
+     531             :   } else {
+     532           0 :     dt                 = (ros::Time::now() - last_command_time_).toSec();
+     533           0 :     last_command_time_ = ros::Time::now();
+     534             : 
+     535           0 :     if (dt <= 1e-4) {
+     536           0 :       ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: the command dt is %.5f, returning", dt);
+     537           0 :       return;
+     538             :     }
+     539             :   }
+     540             : 
+     541           0 :   mrs_msgs::SpeedTrackerCommand transformed_command = *external_command;
+     542             : 
+     543           0 :   auto old_command = mrs_lib::get_mutexed(mutex_command_, command_);
+     544           0 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     545           0 :   auto uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     546             : 
+     547             :   double uav_heading;
+     548             : 
+     549             :   try {
+     550           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+     551             :   }
+     552           0 :   catch (...) {
+     553           0 :     ROS_ERROR_THROTTLE(1.0, "[SpeedTracker]: could not calculate UAV heading");
+     554           0 :     return;
+     555             :   }
+     556             : 
+     557             :   // transform the command
+     558             : 
+     559             :   // transform velocity
+     560             : 
+     561           0 :   if (transformed_command.use_velocity) {
+     562             : 
+     563           0 :     geometry_msgs::Vector3Stamped vector3;
+     564           0 :     vector3.header = transformed_command.header;
+     565             : 
+     566           0 :     vector3.vector.x = transformed_command.velocity.x;
+     567           0 :     vector3.vector.y = transformed_command.velocity.y;
+     568           0 :     vector3.vector.z = transformed_command.velocity.z;
+     569             : 
+     570           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     571             : 
+     572           0 :     if (ret) {
+     573           0 :       transformed_command.velocity.x = ret.value().vector.x;
+     574           0 :       transformed_command.velocity.y = ret.value().vector.y;
+     575           0 :       transformed_command.velocity.z = ret.value().vector.z;
+     576             :     } else {
+     577           0 :       return;
+     578             :     }
+     579             : 
+     580             :     /* horizontal speed limit //{ */
+     581             : 
+     582             :     {
+     583           0 :       double des_horizontal_speed = sqrt(pow(transformed_command.velocity.x, 2) + pow(transformed_command.velocity.y, 2));
+     584             : 
+     585           0 :       if (des_horizontal_speed > constraints.horizontal_speed) {
+     586             : 
+     587           0 :         double des_speed_heading = atan2(transformed_command.velocity.y, transformed_command.velocity.x);
+     588             : 
+     589           0 :         transformed_command.velocity.x = cos(des_speed_heading) * constraints.horizontal_speed;
+     590           0 :         transformed_command.velocity.y = sin(des_speed_heading) * constraints.horizontal_speed;
+     591             :       }
+     592             :     }
+     593             : 
+     594             :     //}
+     595             : 
+     596             :     /* horizontal speed change rate limit //{ */
+     597             : 
+     598             :     {
+     599             :       Eigen::Vector2d hor_speed_derivative =
+     600           0 :           Eigen::Vector2d(transformed_command.velocity.x - old_command.velocity.x, transformed_command.velocity.y - old_command.velocity.y) / dt;
+     601             : 
+     602             :       // exceeding the maximum acceleration
+     603           0 :       if (hor_speed_derivative.norm() > constraints.horizontal_acceleration) {
+     604             : 
+     605           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting speed change rate");
+     606           0 :         double direction = atan2(hor_speed_derivative[1], hor_speed_derivative[0]);
+     607             : 
+     608           0 :         transformed_command.velocity.x = old_command.velocity.x + cos(direction) * constraints.horizontal_acceleration * dt;
+     609           0 :         transformed_command.velocity.y = old_command.velocity.y + sin(direction) * constraints.horizontal_acceleration * dt;
+     610             :       }
+     611             :     }
+     612             : 
+     613             :     //}
+     614             : 
+     615             :     /* vertical speed limit //{ */
+     616             : 
+     617             :     {
+     618             :       // if ascending
+     619           0 :       if (transformed_command.velocity.z > constraints.vertical_ascending_speed) {
+     620             : 
+     621           0 :         transformed_command.velocity.z = constraints.vertical_ascending_speed;
+     622             :       }
+     623             : 
+     624             :       // if descending
+     625           0 :       if (transformed_command.velocity.z < -constraints.vertical_descending_speed) {
+     626             : 
+     627           0 :         transformed_command.velocity.z = -constraints.vertical_descending_speed;
+     628             :       }
+     629             :     }
+     630             : 
+     631             :     //}
+     632             : 
+     633             :     /* vertical speed change rate //{ */
+     634             : 
+     635             :     {
+     636             : 
+     637           0 :       double vert_speed_derivative = (transformed_command.velocity.z - old_command.velocity.z) / dt;
+     638             : 
+     639           0 :       if (vert_speed_derivative > constraints.vertical_ascending_acceleration) {
+     640             : 
+     641           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical ascending speed change rate");
+     642           0 :         transformed_command.velocity.z = old_command.velocity.z + constraints.vertical_ascending_acceleration * dt;
+     643             : 
+     644           0 :       } else if (vert_speed_derivative < -constraints.vertical_descending_acceleration) {
+     645             : 
+     646           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical descending speed change rate");
+     647           0 :         transformed_command.velocity.z = old_command.velocity.z - constraints.vertical_descending_acceleration * dt;
+     648             :       }
+     649             :     }
+     650             : 
+     651             :     //}
+     652             :   }
+     653             : 
+     654             :   /* transform and constrain heading //{ */
+     655             : 
+     656           0 :   if (transformed_command.use_heading) {
+     657             : 
+     658           0 :     mrs_msgs::ReferenceStamped temp_ref;
+     659           0 :     temp_ref.header = transformed_command.header;
+     660             : 
+     661           0 :     temp_ref.reference.heading = transformed_command.heading;
+     662             : 
+     663           0 :     auto ret = common_handlers_->transformer->transformSingle(temp_ref, "");
+     664             : 
+     665           0 :     if (ret) {
+     666             : 
+     667             :       // calculate the produced heading rate
+     668           0 :       double des_hdg_rate = sradians::diff(ret.value().reference.heading, old_command.heading) / dt;
+     669             : 
+     670             :       // saturate the change in the desired heading
+     671           0 :       if (des_hdg_rate > constraints.heading_speed) {
+     672             : 
+     673           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting change of the desired heading using constraints");
+     674           0 :         transformed_command.heading = old_command.heading + constraints.heading_speed * dt;
+     675             : 
+     676           0 :       } else if (des_hdg_rate < -constraints.heading_speed) {
+     677             : 
+     678           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting change of the desired heading using constraints");
+     679           0 :         transformed_command.heading = old_command.heading - constraints.heading_speed * dt;
+     680             : 
+     681             :       } else {
+     682             : 
+     683           0 :         transformed_command.heading = ret.value().reference.heading;
+     684             :       }
+     685             : 
+     686             :     } else {
+     687           0 :       return;
+     688             :     }
+     689             :   } else {
+     690           0 :     transformed_command.use_heading = false;
+     691           0 :     transformed_command.heading     = uav_heading;
+     692             :   }
+     693             : 
+     694             :   //}
+     695             : 
+     696           0 :   if (transformed_command.use_heading_rate) {
+     697             : 
+     698           0 :     if (transformed_command.heading_rate > constraints.heading_speed) {
+     699           0 :       transformed_command.heading_rate = constraints.heading_speed;
+     700           0 :     } else if (transformed_command.heading_rate < -constraints.heading_speed) {
+     701           0 :       transformed_command.heading_rate = -constraints.heading_speed;
+     702             :     }
+     703             :   }
+     704             : 
+     705           0 :   if (transformed_command.use_acceleration) {
+     706             : 
+     707           0 :     geometry_msgs::Vector3Stamped vector3;
+     708           0 :     vector3.header = transformed_command.header;
+     709             : 
+     710           0 :     vector3.vector.x = transformed_command.acceleration.x;
+     711           0 :     vector3.vector.y = transformed_command.acceleration.y;
+     712           0 :     vector3.vector.z = transformed_command.acceleration.z;
+     713             : 
+     714           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     715             : 
+     716           0 :     if (ret) {
+     717           0 :       transformed_command.acceleration.x = ret.value().vector.x;
+     718           0 :       transformed_command.acceleration.y = ret.value().vector.y;
+     719           0 :       transformed_command.acceleration.z = ret.value().vector.z;
+     720             :     } else {
+     721           0 :       return;
+     722             :     }
+     723             : 
+     724             :     /* horizontal acceleration limit //{ */
+     725             : 
+     726             :     {
+     727           0 :       double des_horizontal_acceleration = sqrt(pow(transformed_command.acceleration.x, 2) + pow(transformed_command.acceleration.y, 2));
+     728             : 
+     729           0 :       if (des_horizontal_acceleration > constraints.horizontal_acceleration) {
+     730             : 
+     731           0 :         double des_acc_heading = atan2(transformed_command.acceleration.y, transformed_command.acceleration.x);
+     732             : 
+     733           0 :         transformed_command.acceleration.x = cos(des_acc_heading) * constraints.horizontal_acceleration;
+     734           0 :         transformed_command.acceleration.y = sin(des_acc_heading) * constraints.horizontal_acceleration;
+     735             :       }
+     736             :     }
+     737             : 
+     738             :     //}
+     739             : 
+     740             :     /* horizontal acceleration change rate limit //{ */
+     741             : 
+     742             :     {
+     743             :       Eigen::Vector2d hor_acc_derivative =
+     744           0 :           Eigen::Vector2d(transformed_command.acceleration.x - old_command.acceleration.x, transformed_command.acceleration.y - old_command.acceleration.y) /
+     745           0 :           (dt);
+     746             : 
+     747             :       // exceeding the maximum acceleration
+     748           0 :       if (hor_acc_derivative.norm() > constraints.horizontal_jerk) {
+     749             : 
+     750           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting acceleration change rate");
+     751           0 :         double direction = atan2(hor_acc_derivative[1], hor_acc_derivative[0]);
+     752             : 
+     753           0 :         transformed_command.acceleration.x = old_command.acceleration.x + cos(direction) * constraints.horizontal_jerk * dt;
+     754           0 :         transformed_command.acceleration.y = old_command.acceleration.y + sin(direction) * constraints.horizontal_jerk * dt;
+     755             :       }
+     756             :     }
+     757             : 
+     758             :     //}
+     759             : 
+     760             :     /* vertical acceleration limit //{ */
+     761             : 
+     762             :     {
+     763             :       // if ascending
+     764           0 :       if (transformed_command.acceleration.z > constraints.vertical_ascending_acceleration) {
+     765             : 
+     766           0 :         transformed_command.acceleration.z = constraints.vertical_ascending_acceleration;
+     767             :       }
+     768             : 
+     769             :       // if descending
+     770           0 :       if (transformed_command.acceleration.z < -constraints.vertical_descending_acceleration) {
+     771             : 
+     772           0 :         transformed_command.acceleration.z = -constraints.vertical_descending_acceleration;
+     773             :       }
+     774             :     }
+     775             : 
+     776             :     //}
+     777             : 
+     778             :     /* vertical acceleration change rate //{ */
+     779             : 
+     780             :     {
+     781             : 
+     782           0 :       double vert_acc_derivative = (transformed_command.acceleration.z - old_command.acceleration.z) / dt;
+     783             : 
+     784           0 :       if (vert_acc_derivative > constraints.vertical_ascending_jerk) {
+     785             : 
+     786           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical ascending acceleration change rate");
+     787           0 :         transformed_command.acceleration.z = old_command.acceleration.z + constraints.vertical_ascending_jerk * dt;
+     788             : 
+     789           0 :       } else if (vert_acc_derivative < -constraints.vertical_descending_jerk) {
+     790             : 
+     791           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical descending acceleration change rate");
+     792           0 :         transformed_command.acceleration.z = old_command.acceleration.z - constraints.vertical_descending_jerk * dt;
+     793             :       }
+     794             :     }
+     795             : 
+     796             :     //}
+     797             :   }
+     798             : 
+     799             :   // transform force
+     800             : 
+     801           0 :   if (transformed_command.use_force) {
+     802             : 
+     803           0 :     geometry_msgs::Vector3Stamped vector3;
+     804           0 :     vector3.header = transformed_command.header;
+     805             : 
+     806           0 :     vector3.vector.x = transformed_command.force.x;
+     807           0 :     vector3.vector.y = transformed_command.force.y;
+     808           0 :     vector3.vector.z = transformed_command.force.z;
+     809             : 
+     810           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     811             : 
+     812           0 :     if (ret) {
+     813           0 :       transformed_command.force.x = vector3.vector.x;
+     814           0 :       transformed_command.force.y = vector3.vector.y;
+     815           0 :       transformed_command.force.z = vector3.vector.z;
+     816             :     } else {
+     817           0 :       return;
+     818             :     }
+     819             :   }
+     820             : 
+     821             :   // check the feasibility of the z
+     822             :   {
+     823           0 :     double z_derivative = (transformed_command.z - old_command.z) / dt;
+     824             : 
+     825           0 :     if (z_derivative > constraints.vertical_ascending_speed) {
+     826             : 
+     827           0 :       transformed_command.z = old_command.z + constraints.vertical_ascending_speed * dt;
+     828             : 
+     829           0 :     } else if (z_derivative < -constraints.vertical_ascending_speed) {
+     830             : 
+     831           0 :       transformed_command.z = old_command.z - constraints.vertical_descending_speed * dt;
+     832             :     }
+     833             : 
+     834             :     // saturate the desired z using the safety area
+     835           0 :     if (common_handlers_->safety_area.use_safety_area) {
+     836             : 
+     837           0 :       if (transformed_command.z > common_handlers_->safety_area.getMaxZ("")) {
+     838             : 
+     839           0 :         transformed_command.z = common_handlers_->safety_area.getMaxZ("");
+     840             : 
+     841           0 :       } else if (transformed_command.z < common_handlers_->safety_area.getMinZ("")) {
+     842             : 
+     843           0 :         transformed_command.z = common_handlers_->safety_area.getMinZ("");
+     844             :       }
+     845             :     }
+     846             :   }
+     847             : 
+     848             :   // if not active, nullify the desired speeds and accelerations
+     849             :   // this will produce a rumpum (using the constraints) after the activation
+     850           0 :   if (!is_active_) {
+     851             : 
+     852           0 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     853             : 
+     854           0 :     transformed_command.velocity.x = 0;
+     855           0 :     transformed_command.velocity.y = 0;
+     856           0 :     transformed_command.velocity.z = 0;
+     857             : 
+     858           0 :     transformed_command.acceleration.x = 0;
+     859           0 :     transformed_command.acceleration.y = 0;
+     860           0 :     transformed_command.acceleration.z = 0;
+     861             : 
+     862             :     try {
+     863           0 :       transformed_command.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     864             :     }
+     865           0 :     catch (...) {
+     866           0 :       return;
+     867             :     }
+     868             : 
+     869           0 :     transformed_command.z = uav_state_.pose.position.z;
+     870             :   }
+     871             : 
+     872             :   {
+     873           0 :     std::scoped_lock lock(mutex_command_);
+     874             : 
+     875           0 :     command_ = transformed_command;
+     876             :   }
+     877             : 
+     878           0 :   if (!is_active_) {
+     879           0 :     ROS_INFO_ONCE("[SpeedTracker]: getting command");
+     880             :   } else {
+     881           0 :     ROS_INFO_THROTTLE(5.0, "[SpeedTracker]: getting command");
+     882             :   }
+     883             : 
+     884             :   // --------------------------------------------------------------
+     885             :   // |                     publish rviz markers                   |
+     886             :   // --------------------------------------------------------------
+     887             : 
+     888           0 :   visualization_msgs::MarkerArray msg_out;
+     889             : 
+     890           0 :   double id = 0;
+     891             : 
+     892           0 :   geometry_msgs::Point point;
+     893             : 
+     894             :   /* desired speed //{ */
+     895             : 
+     896           0 :   if (transformed_command.use_velocity) {
+     897             : 
+     898           0 :     std::scoped_lock lock(mutex_uav_state_);
+     899             : 
+     900           0 :     visualization_msgs::Marker marker;
+     901             : 
+     902           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+     903           0 :     marker.header.stamp    = ros::Time::now();
+     904           0 :     marker.ns              = "speed_tracker";
+     905           0 :     marker.id              = id++;
+     906           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+     907           0 :     marker.action          = visualization_msgs::Marker::ADD;
+     908             : 
+     909             :     /* position //{ */
+     910             : 
+     911           0 :     marker.pose.position.x = 0.0;
+     912           0 :     marker.pose.position.y = 0.0;
+     913           0 :     marker.pose.position.z = 0.0;
+     914             : 
+     915             :     //}
+     916             : 
+     917             :     /* orientation //{ */
+     918             : 
+     919           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     920             : 
+     921             :     //}
+     922             : 
+     923             :     /* origin //{ */
+     924           0 :     point.x = uav_state_.pose.position.x;
+     925           0 :     point.y = uav_state_.pose.position.y;
+     926           0 :     point.z = uav_state_.pose.position.z;
+     927             : 
+     928           0 :     marker.points.push_back(point);
+     929             : 
+     930             :     //}
+     931             : 
+     932             :     /* tip //{ */
+     933             : 
+     934           0 :     point.x = uav_state_.pose.position.x + transformed_command.velocity.x;
+     935           0 :     point.y = uav_state_.pose.position.y + transformed_command.velocity.y;
+     936           0 :     point.z = uav_state_.pose.position.z + transformed_command.velocity.z;
+     937             : 
+     938           0 :     marker.points.push_back(point);
+     939             : 
+     940             :     //}
+     941             : 
+     942           0 :     marker.scale.x = 0.05;
+     943           0 :     marker.scale.y = 0.05;
+     944           0 :     marker.scale.z = 0.05;
+     945             : 
+     946           0 :     marker.color.a = 0.5;
+     947           0 :     marker.color.r = 0.0;
+     948           0 :     marker.color.g = 1.0;
+     949           0 :     marker.color.b = 0.0;
+     950             : 
+     951           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+     952             : 
+     953           0 :     msg_out.markers.push_back(marker);
+     954             :   }
+     955             : 
+     956             :   //}
+     957             : 
+     958             :   /* desired acceleration //{ */
+     959           0 :   if (transformed_command.use_acceleration) {
+     960             : 
+     961           0 :     std::scoped_lock lock(mutex_uav_state_);
+     962             : 
+     963           0 :     visualization_msgs::Marker marker;
+     964             : 
+     965           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+     966           0 :     marker.header.stamp    = ros::Time::now();
+     967           0 :     marker.ns              = "speed_tracker";
+     968           0 :     marker.id              = id++;
+     969           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+     970           0 :     marker.action          = visualization_msgs::Marker::ADD;
+     971             : 
+     972             :     /* position //{ */
+     973             : 
+     974           0 :     marker.pose.position.x = 0.0;
+     975           0 :     marker.pose.position.y = 0.0;
+     976           0 :     marker.pose.position.z = 0.0;
+     977             : 
+     978             :     //}
+     979             : 
+     980             :     /* orientation //{ */
+     981             : 
+     982           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     983             : 
+     984             :     //}
+     985             : 
+     986             :     /* origin //{ */
+     987           0 :     point.x = uav_state_.pose.position.x;
+     988           0 :     point.y = uav_state_.pose.position.y;
+     989           0 :     point.z = uav_state_.pose.position.z;
+     990             : 
+     991           0 :     marker.points.push_back(point);
+     992             : 
+     993             :     //}
+     994             : 
+     995             :     /* tip //{ */
+     996             : 
+     997           0 :     point.x = uav_state_.pose.position.x + transformed_command.acceleration.x;
+     998           0 :     point.y = uav_state_.pose.position.y + transformed_command.acceleration.y;
+     999           0 :     point.z = uav_state_.pose.position.z + transformed_command.acceleration.z;
+    1000             : 
+    1001           0 :     marker.points.push_back(point);
+    1002             : 
+    1003             :     //}
+    1004             : 
+    1005           0 :     marker.scale.x = 0.05;
+    1006           0 :     marker.scale.y = 0.05;
+    1007           0 :     marker.scale.z = 0.05;
+    1008             : 
+    1009           0 :     marker.color.a = 0.5;
+    1010           0 :     marker.color.r = 1.0;
+    1011           0 :     marker.color.g = 0.0;
+    1012           0 :     marker.color.b = 0.0;
+    1013             : 
+    1014           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1015             : 
+    1016           0 :     msg_out.markers.push_back(marker);
+    1017             :   }
+    1018             : 
+    1019             :   //}
+    1020             : 
+    1021             :   /* desired force //{ */
+    1022           0 :   if (transformed_command.use_force) {
+    1023             : 
+    1024           0 :     std::scoped_lock lock(mutex_uav_state_);
+    1025             : 
+    1026           0 :     visualization_msgs::Marker marker;
+    1027             : 
+    1028           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+    1029           0 :     marker.header.stamp    = ros::Time::now();
+    1030           0 :     marker.ns              = "speed_tracker";
+    1031           0 :     marker.id              = id++;
+    1032           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+    1033           0 :     marker.action          = visualization_msgs::Marker::ADD;
+    1034             : 
+    1035             :     /* position //{ */
+    1036             : 
+    1037           0 :     marker.pose.position.x = 0.0;
+    1038           0 :     marker.pose.position.y = 0.0;
+    1039           0 :     marker.pose.position.z = 0.0;
+    1040             : 
+    1041             :     //}
+    1042             : 
+    1043             :     /* orientation //{ */
+    1044             : 
+    1045           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1046             : 
+    1047             :     //}
+    1048             : 
+    1049             :     /* origin //{ */
+    1050           0 :     point.x = uav_state_.pose.position.x;
+    1051           0 :     point.y = uav_state_.pose.position.y;
+    1052           0 :     point.z = uav_state_.pose.position.z;
+    1053             : 
+    1054           0 :     marker.points.push_back(point);
+    1055             : 
+    1056             :     //}
+    1057             : 
+    1058             :     /* tip //{ */
+    1059             : 
+    1060           0 :     point.x = uav_state_.pose.position.x + transformed_command.force.x;
+    1061           0 :     point.y = uav_state_.pose.position.y + transformed_command.force.y;
+    1062           0 :     point.z = uav_state_.pose.position.z + transformed_command.force.z;
+    1063             : 
+    1064           0 :     marker.points.push_back(point);
+    1065             : 
+    1066             :     //}
+    1067             : 
+    1068           0 :     marker.scale.x = 0.05;
+    1069           0 :     marker.scale.y = 0.05;
+    1070           0 :     marker.scale.z = 0.05;
+    1071             : 
+    1072           0 :     marker.color.a = 0.5;
+    1073           0 :     marker.color.r = 0.0;
+    1074           0 :     marker.color.g = 0.0;
+    1075           0 :     marker.color.b = 1.0;
+    1076             : 
+    1077           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1078             : 
+    1079           0 :     msg_out.markers.push_back(marker);
+    1080             :   }
+    1081             : 
+    1082             :   //}
+    1083             : 
+    1084           0 :   ph_rviz_marker_.publish(msg_out);
+    1085             : }
+    1086             : 
+    1087             : //}
+    1088             : 
+    1089             : }  // namespace speed_tracker
+    1090             : 
+    1091             : }  // namespace mrs_uav_trackers
+    1092             : 
+    1093             : #include <pluginlib/class_list_macros.h>
+    1094          47 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::speed_tracker::SpeedTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html new file mode 100644 index 0000000000..b1299a71fe --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html @@ -0,0 +1,294 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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eth_mav_msgs::quaternionFromYaw(double)40
eth_mav_msgs::yawFromQuaternion(Eigen::Quaternion<double, 0> const&)40
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eth_mav_msgs::quaternionFromYaw(double)40
eth_mav_msgs::yawFromQuaternion(Eigen::Quaternion<double, 0> const&)40
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright 2015 Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  *     http://www.apache.org/licenses/LICENSE-2.0
+      13             : 
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : // Common conversion functions between geometry messages, Eigen types, and yaw.
+      22             : 
+      23             : #ifndef ETH_MAV_MSGS_COMMON_H
+      24             : #define ETH_MAV_MSGS_COMMON_H
+      25             : 
+      26             : #include <geometry_msgs/Point.h>
+      27             : #include <geometry_msgs/Quaternion.h>
+      28             : #include <geometry_msgs/Vector3.h>
+      29             : #include <Eigen/Geometry>
+      30             : #include <boost/algorithm/clamp.hpp>
+      31             : 
+      32             : namespace eth_mav_msgs
+      33             : {
+      34             : 
+      35             : const double kSmallValueCheck         = 1.e-6;
+      36             : const double kNumNanosecondsPerSecond = 1.e9;
+      37             : 
+      38             : /* MagnitudeOfGravity() //{ */
+      39             : 
+      40             : /// Magnitude of Earth's gravitational field at specific height [m] and latitude
+      41             : /// [rad] (from wikipedia).
+      42             : inline double MagnitudeOfGravity(const double height, const double latitude_radians) {
+      43             :   // gravity calculation constants
+      44             :   const double kGravity_0 = 9.780327;
+      45             :   const double kGravity_a = 0.0053024;
+      46             :   const double kGravity_b = 0.0000058;
+      47             :   const double kGravity_c = 3.155 * 1e-7;
+      48             : 
+      49             :   double sin_squared_latitude       = std::sin(latitude_radians) * std::sin(latitude_radians);
+      50             :   double sin_squared_twice_latitude = std::sin(2 * latitude_radians) * std::sin(2 * latitude_radians);
+      51             :   return kGravity_0 * ((1 + kGravity_a * sin_squared_latitude - kGravity_b * sin_squared_twice_latitude) - kGravity_c * height);
+      52             : }
+      53             : 
+      54             : //}
+      55             : 
+      56             : /* vector3FromMsg() //{ */
+      57             : 
+      58             : inline Eigen::Vector3d vector3FromMsg(const geometry_msgs::Vector3& msg) {
+      59             :   return Eigen::Vector3d(msg.x, msg.y, msg.z);
+      60             : }
+      61             : 
+      62             : //}
+      63             : 
+      64             : /* vector3FromPointMsg() //{ */
+      65             : 
+      66             : inline Eigen::Vector3d vector3FromPointMsg(const geometry_msgs::Point& msg) {
+      67             :   return Eigen::Vector3d(msg.x, msg.y, msg.z);
+      68             : }
+      69             : 
+      70             : //}
+      71             : 
+      72             : /* quaternionFromMsg() //{ */
+      73             : 
+      74             : inline Eigen::Quaterniond quaternionFromMsg(const geometry_msgs::Quaternion& msg) {
+      75             :   // Make sure this always returns a valid Quaternion, even if the message was
+      76             :   // uninitialized or only approximately set.
+      77             :   Eigen::Quaterniond quaternion(msg.w, msg.x, msg.y, msg.z);
+      78             :   if (quaternion.norm() < std::numeric_limits<double>::epsilon()) {
+      79             :     quaternion.setIdentity();
+      80             :   } else {
+      81             :     quaternion.normalize();
+      82             :   }
+      83             :   return quaternion;
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* vectorEigenToMsg() //{ */
+      89             : 
+      90             : inline void vectorEigenToMsg(const Eigen::Vector3d& eigen, geometry_msgs::Vector3* msg) {
+      91             :   assert(msg != NULL);
+      92             :   msg->x = eigen.x();
+      93             :   msg->y = eigen.y();
+      94             :   msg->z = eigen.z();
+      95             : }
+      96             : 
+      97             : //}
+      98             : 
+      99             : /* pointEigenToMsg() //{ */
+     100             : 
+     101             : inline void pointEigenToMsg(const Eigen::Vector3d& eigen, geometry_msgs::Point* msg) {
+     102             :   assert(msg != NULL);
+     103             :   msg->x = eigen.x();
+     104             :   msg->y = eigen.y();
+     105             :   msg->z = eigen.z();
+     106             : }
+     107             : 
+     108             : //}
+     109             : 
+     110             : /* quaternionEigenToMsg() //{ */
+     111             : 
+     112             : inline void quaternionEigenToMsg(const Eigen::Quaterniond& eigen, geometry_msgs::Quaternion* msg) {
+     113             :   assert(msg != NULL);
+     114             :   msg->x = eigen.x();
+     115             :   msg->y = eigen.y();
+     116             :   msg->z = eigen.z();
+     117             :   msg->w = eigen.w();
+     118             : }
+     119             : 
+     120             : //}
+     121             : 
+     122             : /* yawFromQuaternion() //{ */
+     123             : 
+     124             : /**
+     125             :  * \brief Extracts the yaw part from a quaternion, using RPY / euler (z-y'-z'')
+     126             :  * angles.
+     127             :  * RPY rotates about the fixed axes in the order x-y-z,
+     128             :  * which is the same as euler angles in the order z-y'-x''.
+     129             :  */
+     130          40 : inline double yawFromQuaternion(const Eigen::Quaterniond& q) {
+     131          40 :   return std::atan2(2.0 * (q.w() * q.z() + q.x() * q.y()), 1.0 - 2.0 * (q.y() * q.y() + q.z() * q.z()));
+     132             : }
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* quaternionFromYaw() //{ */
+     137             : 
+     138          40 : inline Eigen::Quaterniond quaternionFromYaw(double yaw) {
+     139          40 :   return Eigen::Quaterniond(Eigen::AngleAxisd(yaw, Eigen::Vector3d::UnitZ()));
+     140             : }
+     141             : 
+     142             : //}
+     143             : 
+     144             : /* setQuaternionMsgFromYaw() //{ */
+     145             : 
+     146             : inline void setQuaternionMsgFromYaw(double yaw, geometry_msgs::Quaternion* msg) {
+     147             :   assert(msg != NULL);
+     148             :   Eigen::Quaterniond q_yaw = quaternionFromYaw(yaw);
+     149             :   msg->x                   = q_yaw.x();
+     150             :   msg->y                   = q_yaw.y();
+     151             :   msg->z                   = q_yaw.z();
+     152             :   msg->w                   = q_yaw.w();
+     153             : }
+     154             : 
+     155             : //}
+     156             : 
+     157             : /* setAngularVelocityMsgFromYawRate() //{ */
+     158             : 
+     159             : inline void setAngularVelocityMsgFromYawRate(double yaw_rate, geometry_msgs::Vector3* msg) {
+     160             :   assert(msg != NULL);
+     161             :   msg->x = 0.0;
+     162             :   msg->y = 0.0;
+     163             :   msg->z = yaw_rate;
+     164             : }
+     165             : 
+     166             : //}
+     167             : 
+     168             : /* getEulerAnglesFromQuaternion() //{ */
+     169             : 
+     170             : inline void getEulerAnglesFromQuaternion(const Eigen::Quaternion<double>& q, Eigen::Vector3d* euler_angles) {
+     171             :   {
+     172             :     assert(euler_angles != NULL);
+     173             : 
+     174             :     *euler_angles << std::atan2(2.0 * (q.w() * q.x() + q.y() * q.z()), 1.0 - 2.0 * (q.x() * q.x() + q.y() * q.y())),
+     175             :         std::asin(2.0 * (q.w() * q.y() - q.z() * q.x())), std::atan2(2.0 * (q.w() * q.z() + q.x() * q.y()), 1.0 - 2.0 * (q.y() * q.y() + q.z() * q.z()));
+     176             :   }
+     177             : }
+     178             : 
+     179             : //}
+     180             : 
+     181             : /* skewMatrixFromVector() //{ */
+     182             : 
+     183             : inline void skewMatrixFromVector(const Eigen::Vector3d& vec, Eigen::Matrix3d* vec_skew) {
+     184             :   assert(vec_skew);
+     185             :   *vec_skew << 0.0f, -vec(2), vec(1), vec(2), 0.0f, -vec(0), -vec(1), vec(0), 0.0f;
+     186             : }
+     187             : 
+     188             : //}
+     189             : 
+     190             : /* vectorFromSkewMatrix() //{ */
+     191             : 
+     192             : inline bool vectorFromSkewMatrix(const Eigen::Matrix3d& vec_skew, Eigen::Vector3d* vec) {
+     193             :   assert(vec);
+     194             :   if ((vec_skew + vec_skew.transpose()).norm() < kSmallValueCheck) {
+     195             :     *vec << vec_skew(2, 1), vec_skew(0, 2), vec_skew(1, 0);
+     196             :     return true;
+     197             :   } else {
+     198             :     std::cerr << "[eth_mav_msgs] Matrix is not skew-symmetric." << std::endl;
+     199             :     *vec = Eigen::Vector3d::Zero();
+     200             :     return false;
+     201             :   }
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* isRotationMatrix() //{ */
+     207             : 
+     208             : inline bool isRotationMatrix(const Eigen::Matrix3d& mat) {
+     209             :   // Check that R^T * R = I
+     210             :   if ((mat.transpose() * mat - Eigen::Matrix3d::Identity()).norm() > kSmallValueCheck) {
+     211             :     std::cerr << "[eth_mav_msgs::common] Rotation matrix requirement violated (R^T * R = I)" << std::endl;
+     212             :     return false;
+     213             :   }
+     214             :   // Check that det(R) = 1
+     215             :   if (mat.determinant() - 1.0 > kSmallValueCheck) {
+     216             :     std::cerr << "[eth_mav_msgs::common] Rotation matrix requirement violated (det(R) = 1)" << std::endl;
+     217             :     return false;
+     218             :   }
+     219             :   return true;
+     220             : }
+     221             : 
+     222             : //}
+     223             : 
+     224             : /* matrixFromRotationVector() //{ */
+     225             : 
+     226             : // Rotation matrix from rotation vector as described in
+     227             : // "Computationally Efficient Trajectory Generation for Fully Actuated Multirotor Vehicles"
+     228             : // Brescianini 2018
+     229             : inline void matrixFromRotationVector(const Eigen::Vector3d& vec, Eigen::Matrix3d* mat) {
+     230             :   // R = (I + sin||r|| / ||r||) [r] + ((1 - cos||r||)/||r||^2) [r]^2
+     231             :   // where [r] is the skew matrix of r vector
+     232             :   assert(mat);
+     233             :   double          r_norm        = vec.norm();
+     234             :   Eigen::Matrix3d vec_skew_norm = Eigen::Matrix3d::Zero();
+     235             :   if (r_norm > 0.0) {
+     236             :     skewMatrixFromVector(vec / r_norm, &vec_skew_norm);
+     237             :   }
+     238             : 
+     239             :   *mat = Eigen::Matrix3d::Identity() + vec_skew_norm * std::sin(r_norm) + vec_skew_norm * vec_skew_norm * (1 - std::cos(r_norm));
+     240             : }
+     241             : 
+     242             : //}
+     243             : 
+     244             : /* vectorFromRotationMatrix() //{ */
+     245             : 
+     246             : // Rotation vector from rotation matrix as described in
+     247             : // "Computationally Efficient Trajectory Generation for Fully Actuated Multirotor Vehicles"
+     248             : // Brescianini 2018
+     249             : inline bool vectorFromRotationMatrix(const Eigen::Matrix3d& mat, Eigen::Vector3d* vec) {
+     250             :   // [r] = phi / 2sin(phi) * (R - R^T)
+     251             :   // where [r] is the skew matrix of r vector
+     252             :   // and phi satisfies 1 + 2cos(phi) = trace(R)
+     253             :   assert(vec);
+     254             : 
+     255             :   if (!isRotationMatrix(mat)) {
+     256             :     std::cerr << "[eth_mav_msgs::common] Not a rotation matrix." << std::endl;
+     257             :     return false;
+     258             :   }
+     259             : 
+     260             :   if ((mat - Eigen::Matrix3d::Identity()).norm() < kSmallValueCheck) {
+     261             :     *vec = Eigen::Vector3d::Zero();
+     262             :     return true;
+     263             :   }
+     264             : 
+     265             :   // Compute cosine of angle and clamp in range [-1, 1]
+     266             :   double cos_phi         = (mat.trace() - 1.0) / 2.0;
+     267             :   double cos_phi_clamped = boost::algorithm::clamp(cos_phi, -1.0, 1.0);
+     268             :   double phi             = std::acos(cos_phi_clamped);
+     269             : 
+     270             :   if (phi < kSmallValueCheck) {
+     271             :     *vec = Eigen::Vector3d::Zero();
+     272             :   } else {
+     273             :     Eigen::Matrix3d vec_skew = (mat - mat.transpose()) * phi / (2.0 * std::sin(phi));
+     274             :     Eigen::Vector3d vec_unskewed;
+     275             :     if (vectorFromSkewMatrix(vec_skew, &vec_unskewed)) {
+     276             :       *vec = vec_unskewed;
+     277             :     } else {
+     278             :       return false;
+     279             :     }
+     280             :   }
+     281             :   return true;
+     282             : }
+     283             : 
+     284             : //}
+     285             : 
+     286             : /* omegaFromRotationVector() //{ */
+     287             : 
+     288             : // Calculates angular velocity (omega) from rotation vector derivative
+     289             : // based on formula derived in "Finite rotations and angular velocity" by Asher
+     290             : // Peres
+     291             : inline Eigen::Vector3d omegaFromRotationVector(const Eigen::Vector3d& rot_vec, const Eigen::Vector3d& rot_vec_vel) {
+     292             :   double phi = rot_vec.norm();
+     293             :   if (std::abs(phi) < 1.0e-3) {
+     294             :     // This captures the case of zero rotation
+     295             :     return rot_vec_vel;
+     296             :   }
+     297             : 
+     298             :   double phi_inv   = 1.0 / phi;
+     299             :   double phi_2_inv = phi_inv / phi;
+     300             :   double phi_3_inv = phi_2_inv / phi;
+     301             : 
+     302             :   // Create skew-symmetric matrix from rotation vector
+     303             :   Eigen::Matrix3d phi_skew;
+     304             :   skewMatrixFromVector(rot_vec, &phi_skew);
+     305             : 
+     306             :   // Set up matrix to calculate omega
+     307             :   Eigen::Matrix3d W;
+     308             :   W = Eigen::MatrixXd::Identity(3, 3) + phi_skew * (1 - std::cos(phi)) * phi_2_inv + phi_skew * phi_skew * (phi - std::sin(phi)) * phi_3_inv;
+     309             :   return W * rot_vec_vel;
+     310             : }
+     311             : 
+     312             : //}
+     313             : 
+     314             : /* omegaDotFromRotationVector() //{ */
+     315             : 
+     316             : // Calculates angular acceleration (omegaDot) from rotation vector derivative
+     317             : // based on formula derived in "Finite rotations and angular velocity" by Asher
+     318             : // Peres
+     319             : inline Eigen::Vector3d omegaDotFromRotationVector(const Eigen::Vector3d& rot_vec, const Eigen::Vector3d& rot_vec_vel, const Eigen::Vector3d& rot_vec_acc) {
+     320             :   double phi = rot_vec.norm();
+     321             :   if (std::abs(phi) < 1.0e-3) {
+     322             :     // This captures the case of zero rotation
+     323             :     return rot_vec_acc;
+     324             :   }
+     325             : 
+     326             :   double phi_dot = rot_vec.dot(rot_vec_vel) / phi;
+     327             : 
+     328             :   double phi_inv   = 1.0 / phi;
+     329             :   double phi_2_inv = phi_inv / phi;
+     330             :   double phi_3_inv = phi_2_inv / phi;
+     331             :   double phi_4_inv = phi_3_inv / phi;
+     332             : 
+     333             : 
+     334             :   // Create skew-symmetric matrix from rotation vector and velocity
+     335             :   Eigen::Matrix3d phi_skew;
+     336             :   Eigen::Matrix3d phi_dot_skew;
+     337             : 
+     338             :   skewMatrixFromVector(rot_vec, &phi_skew);
+     339             :   skewMatrixFromVector(rot_vec_vel, &phi_dot_skew);
+     340             : 
+     341             :   // Set up matrices to calculate omega dot
+     342             :   Eigen::Matrix3d W_vel;
+     343             :   Eigen::Matrix3d W_acc;
+     344             :   W_vel = phi_skew * (phi * std::sin(phi) - 2.0f + 2.0f * std::cos(phi)) * phi_dot * phi_3_inv +
+     345             :           phi_skew * phi_skew * (-2.0f * phi - phi * std::cos(phi) + 3.0f * std::sin(phi)) * phi_dot * phi_4_inv +
+     346             :           phi_dot_skew * phi_skew * (phi - std::sin(phi)) * phi_3_inv;
+     347             : 
+     348             :   W_acc = Eigen::MatrixXd::Identity(3, 3) + phi_skew * (1.0f - std::cos(phi)) * phi_2_inv + phi_skew * phi_skew * (phi - std::sin(phi)) * phi_3_inv;
+     349             : 
+     350             :   return W_vel * rot_vec_vel + W_acc * rot_vec_acc;
+     351             : }
+     352             : 
+     353             : //}
+     354             : 
+     355             : /* getSquaredRotorSpeedsFromAllocationAndState() //{ */
+     356             : 
+     357             : // Calculate the nominal rotor rates given the MAV mass, allocation matrix,
+     358             : // angular velocity, angular acceleration, and body acceleration (normalized
+     359             : // thrust).
+     360             : //
+     361             : // [torques, thrust]' = A * n^2, where
+     362             : // torques = J * ang_acc + ang_vel x J
+     363             : // thrust = m * norm(acc)
+     364             : //
+     365             : // The allocation matrix A has of a hexacopter is:
+     366             : // A = K * B, where
+     367             : // K = diag(l*c_T, l*c_T, c_M, c_T),
+     368             : //     [ s  1  s -s -1 -s]
+     369             : // B = [-c  0  c  c  0 -c]
+     370             : //     [-1  1 -1  1 -1  1]
+     371             : //     [ 1  1  1  1  1  1],
+     372             : // l: arm length
+     373             : // c_T: thrust constant
+     374             : // c_M: moment constant
+     375             : // s: sin(30°)
+     376             : // c: cos(30°)
+     377             : //
+     378             : // The inverse can be computed computationally efficient:
+     379             : // A^-1 \approx B^pseudo * K^-1
+     380             : inline void getSquaredRotorSpeedsFromAllocationAndState(const Eigen::MatrixXd& allocation_inv, const Eigen::Vector3d& inertia, double mass,
+     381             :                                                         const Eigen::Vector3d& angular_velocity_B, const Eigen::Vector3d& angular_acceleration_B,
+     382             :                                                         const Eigen::Vector3d& acceleration_B, Eigen::VectorXd* rotor_rates_squared) {
+     383             :   const Eigen::Vector3d torque       = inertia.asDiagonal() * angular_acceleration_B + angular_velocity_B.cross(inertia.asDiagonal() * angular_velocity_B);
+     384             :   const double          thrust_force = mass * acceleration_B.norm();
+     385             :   Eigen::Vector4d       input;
+     386             :   input << torque, thrust_force;
+     387             :   *rotor_rates_squared = allocation_inv * input;
+     388             : }
+     389             : 
+     390             : //}
+     391             : 
+     392             : /* nanosecondsToSeconds() //{ */
+     393             : 
+     394             : inline double nanosecondsToSeconds(int64_t nanoseconds) {
+     395             :   double seconds = nanoseconds / kNumNanosecondsPerSecond;
+     396             :   return seconds;
+     397             : }
+     398             : 
+     399             : //}
+     400             : 
+     401             : /* secondsToNanoseconds() //{ */
+     402             : 
+     403             : inline int64_t secondsToNanoseconds(double seconds) {
+     404             :   int64_t nanoseconds = static_cast<int64_t>(seconds * kNumNanosecondsPerSecond);
+     405             :   return nanoseconds;
+     406             : }
+     407             : 
+     408             : //}
+     409             : 
+     410             : }  // namespace eth_mav_msgs
+     411             : 
+     412             : #endif  // eth_mav_msgs_COMMON_H
+
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+
          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          40 :   EigenTrajectoryPoint()
+     192          40 :       : timestamp_ns(-1),
+     193             :         time_from_start_ns(0),
+     194          40 :         position_W(Eigen::Vector3d::Zero()),
+     195          40 :         velocity_W(Eigen::Vector3d::Zero()),
+     196          40 :         acceleration_W(Eigen::Vector3d::Zero()),
+     197          40 :         jerk_W(Eigen::Vector3d::Zero()),
+     198          40 :         snap_W(Eigen::Vector3d::Zero()),
+     199             :         orientation_W_B(Eigen::Quaterniond::Identity()),
+     200          40 :         angular_velocity_W(Eigen::Vector3d::Zero()),
+     201          40 :         angular_acceleration_W(Eigen::Vector3d::Zero()),
+     202          40 :         degrees_of_freedom(MavActuation::DOF4) {
+     203          40 :   }
+     204             : 
+     205             :   EigenTrajectoryPoint(int64_t _time_from_start_ns, const Eigen::Vector3d& _position, const Eigen::Vector3d& _velocity, const Eigen::Vector3d& _acceleration,
+     206             :                        const Eigen::Vector3d& _jerk, const Eigen::Vector3d& _snap, const Eigen::Quaterniond& _orientation,
+     207             :                        const Eigen::Vector3d& _angular_velocity, const Eigen::Vector3d& _angular_acceleration,
+     208             :                        const MavActuation& _degrees_of_freedom = MavActuation::DOF4)
+     209             :       : time_from_start_ns(_time_from_start_ns),
+     210             :         position_W(_position),
+     211             :         velocity_W(_velocity),
+     212             :         acceleration_W(_acceleration),
+     213             :         jerk_W(_jerk),
+     214             :         snap_W(_snap),
+     215             :         orientation_W_B(_orientation),
+     216             :         angular_velocity_W(_angular_velocity),
+     217             :         angular_acceleration_W(_angular_acceleration),
+     218             :         degrees_of_freedom(_degrees_of_freedom) {
+     219             :   }
+     220             : 
+     221             :   EigenTrajectoryPoint(int64_t _time_from_start_ns, const Eigen::Vector3d& _position, const Eigen::Vector3d& _velocity, const Eigen::Vector3d& _acceleration,
+     222             :                        const Eigen::Vector3d& _jerk, const Eigen::Vector3d& _snap, const Eigen::Quaterniond& _orientation,
+     223             :                        const Eigen::Vector3d& _angular_velocity, const MavActuation& _degrees_of_freedom = MavActuation::DOF4)
+     224             :       : EigenTrajectoryPoint(_time_from_start_ns, _position, _velocity, _acceleration, _jerk, _snap, _orientation, _angular_velocity, Eigen::Vector3d::Zero(),
+     225             :                              _degrees_of_freedom) {
+     226             :   }
+     227             : 
+     228             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+     229             :   int64_t         timestamp_ns;  // Time since epoch, negative value = invalid timestamp.
+     230             :   int64_t         time_from_start_ns;
+     231             :   Eigen::Vector3d position_W;
+     232             :   Eigen::Vector3d velocity_W;
+     233             :   Eigen::Vector3d acceleration_W;
+     234             :   Eigen::Vector3d jerk_W;
+     235             :   Eigen::Vector3d snap_W;
+     236             : 
+     237             :   Eigen::Quaterniond orientation_W_B;
+     238             :   Eigen::Vector3d    angular_velocity_W;
+     239             :   Eigen::Vector3d    angular_acceleration_W;
+     240             :   MavActuation       degrees_of_freedom;
+     241             : 
+     242             :   // Accessors for making dealing with orientation/angular velocity easier.
+     243          40 :   inline double getYaw() const {
+     244          40 :     return yawFromQuaternion(orientation_W_B);
+     245             :   }
+     246             :   inline double getYawRate() const {
+     247             :     return angular_velocity_W.z();
+     248             :   }
+     249             :   inline double getYawAcc() const {
+     250             :     return angular_acceleration_W.z();
+     251             :   }
+     252             :   // WARNING: sets roll and pitch to 0.
+     253          40 :   inline void setFromYaw(double yaw) {
+     254          40 :     orientation_W_B = quaternionFromYaw(yaw);
+     255             :   }
+     256          40 :   inline void setFromYawRate(double yaw_rate) {
+     257          40 :     angular_velocity_W.x() = 0.0;
+     258          40 :     angular_velocity_W.y() = 0.0;
+     259          40 :     angular_velocity_W.z() = yaw_rate;
+     260             :   }
+     261          40 :   inline void setFromYawAcc(double yaw_acc) {
+     262          40 :     angular_acceleration_W.x() = 0.0;
+     263          40 :     angular_acceleration_W.y() = 0.0;
+     264          40 :     angular_acceleration_W.z() = yaw_acc;
+     265          40 :   }
+     266             : 
+     267             :   std::string toString() const {
+     268             :     std::stringstream ss;
+     269             :     ss << "position:          " << position_W.transpose() << std::endl
+     270             :        << "velocity:          " << velocity_W.transpose() << std::endl
+     271             :        << "acceleration:      " << acceleration_W.transpose() << std::endl
+     272             :        << "jerk:              " << jerk_W.transpose() << std::endl
+     273             :        << "snap:              " << snap_W.transpose() << std::endl
+     274             :        << "yaw:               " << getYaw() << std::endl
+     275             :        << "yaw_rate:          " << getYawRate() << std::endl
+     276             :        << "yaw_acc:           " << getYawAcc() << std::endl;
+     277             : 
+     278             :     return ss.str();
+     279             :   }
+     280             : };
+     281             : 
+     282             : //}
+     283             : 
+     284             : /* EigenTrajectoryPoint operator* //{ */
+     285             : 
+     286             : // Operator overload to transform Trajectory Points according to the Eigen
+     287             : // interfaces (uses operator* for this).
+     288             : // Has to be outside of class.
+     289             : // Example:
+     290             : // Eigen::Affine3d transform; EigenTrajectoryPoint point;
+     291             : // EigenTrajectoryPoint transformed = transform * point;
+     292             : inline EigenTrajectoryPoint operator*(const Eigen::Affine3d& lhs, const EigenTrajectoryPoint& rhs) {
+     293             :   EigenTrajectoryPoint transformed(rhs);
+     294             :   transformed.position_W             = lhs * rhs.position_W;
+     295             :   transformed.velocity_W             = lhs.rotation() * rhs.velocity_W;
+     296             :   transformed.acceleration_W         = lhs.rotation() * rhs.acceleration_W;
+     297             :   transformed.jerk_W                 = lhs.rotation() * rhs.jerk_W;
+     298             :   transformed.snap_W                 = lhs.rotation() * rhs.snap_W;
+     299             :   transformed.orientation_W_B        = lhs.rotation() * rhs.orientation_W_B;
+     300             :   transformed.angular_velocity_W     = lhs.rotation() * rhs.angular_velocity_W;
+     301             :   transformed.angular_acceleration_W = lhs.rotation() * rhs.angular_acceleration_W;
+     302             :   return transformed;
+     303             : }
+     304             : 
+     305             : //}
+     306             : 
+     307             : /* struct EigenOdometry //{ */
+     308             : 
+     309             : struct EigenOdometry
+     310             : {
+     311             :   EigenOdometry()
+     312             :       : timestamp_ns(-1),
+     313             :         position_W(Eigen::Vector3d::Zero()),
+     314             :         orientation_W_B(Eigen::Quaterniond::Identity()),
+     315             :         velocity_B(Eigen::Vector3d::Zero()),
+     316             :         angular_velocity_B(Eigen::Vector3d::Zero()) {
+     317             :   }
+     318             : 
+     319             :   EigenOdometry(const Eigen::Vector3d& _position, const Eigen::Quaterniond& _orientation, const Eigen::Vector3d& _velocity_body,
+     320             :                 const Eigen::Vector3d& _angular_velocity)
+     321             :       : position_W(_position), orientation_W_B(_orientation), velocity_B(_velocity_body), angular_velocity_B(_angular_velocity) {
+     322             :   }
+     323             : 
+     324             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+     325             :   int64_t                     timestamp_ns;  // Time since epoch, negative value = invalid timestamp.
+     326             :   Eigen::Vector3d             position_W;
+     327             :   Eigen::Quaterniond          orientation_W_B;
+     328             :   Eigen::Vector3d             velocity_B;  // Velocity in expressed in the Body frame!
+     329             :   Eigen::Vector3d             angular_velocity_B;
+     330             :   Eigen::Matrix<double, 6, 6> pose_covariance_;
+     331             :   Eigen::Matrix<double, 6, 6> twist_covariance_;
+     332             : 
+     333             :   // Accessors for making dealing with orientation/angular velocity easier.
+     334             :   inline double getYaw() const {
+     335             :     return yawFromQuaternion(orientation_W_B);
+     336             :   }
+     337             :   inline void getEulerAngles(Eigen::Vector3d* euler_angles) const {
+     338             :     getEulerAnglesFromQuaternion(orientation_W_B, euler_angles);
+     339             :   }
+     340             :   inline double getYawRate() const {
+     341             :     return angular_velocity_B.z();
+     342             :   }
+     343             :   // WARNING: sets roll and pitch to 0.
+     344             :   inline void setFromYaw(double yaw) {
+     345             :     orientation_W_B = quaternionFromYaw(yaw);
+     346             :   }
+     347             :   inline void setFromYawRate(double yaw_rate) {
+     348             :     angular_velocity_B.x() = 0.0;
+     349             :     angular_velocity_B.y() = 0.0;
+     350             :     angular_velocity_B.z() = yaw_rate;
+     351             :   }
+     352             : 
+     353             :   inline Eigen::Vector3d getVelocityWorld() const {
+     354             :     return orientation_W_B * velocity_B;
+     355             :   }
+     356             :   inline void setVelocityWorld(const Eigen::Vector3d& velocity_world) {
+     357             :     velocity_B = orientation_W_B.inverse() * velocity_world;
+     358             :   }
+     359             : };
+     360             : 
+     361             : //}
+     362             : 
+     363             : // TODO(helenol): replaced with aligned allocator headers from Simon.
+     364             : #define MAV_MSGS_CONCATENATE(x, y) x##y
+     365             : #define MAV_MSGS_CONCATENATE2(x, y) MAV_MSGS_CONCATENATE(x, y)
+     366             : #define MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EIGEN_TYPE)                                                               \
+     367             :   typedef std::vector<EIGEN_TYPE, Eigen::aligned_allocator<EIGEN_TYPE>> MAV_MSGS_CONCATENATE2(EIGEN_TYPE, Vector); \
+     368             :   typedef std::deque<EIGEN_TYPE, Eigen::aligned_allocator<EIGEN_TYPE>>  MAV_MSGS_CONCATENATE2(EIGEN_TYPE, Deque);
+     369             : 
+     370             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenAttitudeThrust)
+     371             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenActuators)
+     372             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenRateThrust)
+     373             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenTrajectoryPoint)
+     374             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenRollPitchYawrateThrust)
+     375             : MAV_MSGS_MAKE_ALIGNED_CONTAINERS(EigenOdometry)
+     376             : 
+     377             : }  // namespace eth_mav_msgs
+     378             : 
+     379             : #endif  // MAV_MSGS_EIGEN_MAV_MSGS_H
+
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Date:2023-12-06 10:06:33Functions:33100.0 %
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Test:MRS UAV System - Test coverage reportLines:2828100.0 %
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Date:2023-12-06 10:06:33Functions:00-
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_EXTREMUM_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_EXTREMUM_H_
+      23             : 
+      24             : #include <iostream>
+      25             : 
+      26             : namespace eth_trajectory_generation
+      27             : {
+      28             : 
+      29             : // Container holding the properties of an extremum (time, value,
+      30             : // segment where it occurred).
+      31             : struct Extremum
+      32             : {
+      33             : public:
+      34         121 :   Extremum() : time(0.0), value(0.0), segment_idx(0) {
+      35             :   }
+      36             : 
+      37          97 :   Extremum(double _time, double _value, int _segment_idx) : time(_time), value(_value), segment_idx(_segment_idx) {
+      38             :   }
+      39             : 
+      40         212 :   bool operator<(const Extremum& rhs) const {
+      41         165 :     return value < rhs.value;
+      42             :   }
+      43          18 :   bool operator>(const Extremum& rhs) const {
+      44          18 :     return value > rhs.value;
+      45             :   }
+      46             : 
+      47             :   double time;         // Time where the extremum occurs, relative to the segment start.
+      48             :   double value;        // Value of the extremum at time.
+      49             :   int    segment_idx;  // Index of the segment where the extremum occurs.
+      50             : };
+      51             : 
+      52             : inline std::ostream& operator<<(std::ostream& stream, const Extremum& e) {
+      53             :   stream << "time: " << e.time << ", value: " << e.value << ", segment idx: " << e.segment_idx << std::endl;
+      54             :   return stream;
+      55             : }
+      56             : 
+      57             : }  // namespace eth_trajectory_generation
+      58             : 
+      59             : #endif  // ETH_TRAJECTORY_GENERATION_EXTREMUM_H_
+
+
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Test:MRS UAV System - Test coverage reportLines:29162546.6 %
Date:2023-12-06 10:06:33Functions:193259.4 %
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polynomial_optimization_nonlinear_impl.h +
29.8%29.8%
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polynomial_optimization_linear_impl.h +
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polynomial_optimization_nonlinear_impl.h +
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Test:MRS UAV System - Test coverage reportLines:29162546.6 %
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Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Date:2023-12-06 10:06:33Functions:193259.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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79.2%79.2%
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Test:MRS UAV System - Test coverage reportLines:29162546.6 %
Date:2023-12-06 10:06:33Functions:193259.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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polynomial_optimization_nonlinear_impl.h +
29.8%29.8%
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polynomial_optimization_linear_impl.h +
79.2%79.2%
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:29162546.6 %
Date:2023-12-06 10:06:33Functions:193259.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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polynomial_optimization_linear_impl.h +
79.2%79.2%
+ 		79.2 %168 / 21278.6 %11 / 14
polynomial_optimization_nonlinear_impl.h +
29.8%29.8%
+ 		29.8 %123 / 41344.4 %8 / 18
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:16821279.2 %
Date:2023-12-06 10:06:33Functions:111478.6 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimization<10>::setFreeConstraints(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > > const&)0
eth_trajectory_generation::PolynomialOptimization<10>::computeSegmentMaximumMagnitudeCandidates(int, eth_trajectory_generation::Segment const&, double, double, std::vector<double, std::allocator<double> >*)0
eth_trajectory_generation::PolynomialOptimization<10>::computeMaximumOfMagnitude(int, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const0
eth_trajectory_generation::PolynomialOptimization<10>::setupFromVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> > const&, int)1
eth_trajectory_generation::PolynomialOptimization<10>::setupConstraintReorderingMatrix()1
eth_trajectory_generation::PolynomialOptimization<10>::PolynomialOptimization(unsigned long)1
eth_trajectory_generation::PolynomialOptimization<10>::computeCost() const1
eth_trajectory_generation::PolynomialOptimization<10>::solveLinear()2
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentsFromCompactConstraints()2
eth_trajectory_generation::PolynomialOptimization<10>::constructR(Eigen::SparseMatrix<double, 0, int>*) const2
eth_trajectory_generation::PolynomialOptimization<10>::setupMappingMatrix(double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentTimes(std::vector<double, std::allocator<double> > const&)3
eth_trajectory_generation::PolynomialOptimization<10>::invertMappingMatrix(Eigen::Matrix<double, 10, 10, 0, 10, 10> const&, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
eth_trajectory_generation::PolynomialOptimization<10>::computeQuadraticCostJacobian(int, double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
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Date:2023-12-06 10:06:33Functions:111478.6 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimization<10>::solveLinear()2
eth_trajectory_generation::PolynomialOptimization<10>::setupFromVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> > const&, int)1
eth_trajectory_generation::PolynomialOptimization<10>::setFreeConstraints(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > > const&)0
eth_trajectory_generation::PolynomialOptimization<10>::setupMappingMatrix(double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentTimes(std::vector<double, std::allocator<double> > const&)3
eth_trajectory_generation::PolynomialOptimization<10>::invertMappingMatrix(Eigen::Matrix<double, 10, 10, 0, 10, 10> const&, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
eth_trajectory_generation::PolynomialOptimization<10>::computeQuadraticCostJacobian(int, double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)3
eth_trajectory_generation::PolynomialOptimization<10>::setupConstraintReorderingMatrix()1
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentsFromCompactConstraints()2
eth_trajectory_generation::PolynomialOptimization<10>::computeSegmentMaximumMagnitudeCandidates(int, eth_trajectory_generation::Segment const&, double, double, std::vector<double, std::allocator<double> >*)0
eth_trajectory_generation::PolynomialOptimization<10>::PolynomialOptimization(unsigned long)1
eth_trajectory_generation::PolynomialOptimization<10>::constructR(Eigen::SparseMatrix<double, 0, int>*) const2
eth_trajectory_generation::PolynomialOptimization<10>::computeCost() const1
eth_trajectory_generation::PolynomialOptimization<10>::computeMaximumOfMagnitude(int, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const0
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Date:2023-12-06 10:06:33Functions: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           1 : PolynomialOptimization<_N>::PolynomialOptimization(size_t dimension)
+      46             :     : dimension_(dimension),
+      47             :       derivative_to_optimize_(derivative_order::INVALID),
+      48             :       n_vertices_(0),
+      49             :       n_segments_(0),
+      50             :       n_all_constraints_(0),
+      51             :       n_fixed_constraints_(0),
+      52           1 :       n_free_constraints_(0) {
+      53           1 :   fixed_constraints_compact_.resize(dimension_);
+      54           1 :   free_constraints_compact_.resize(dimension_);
+      55           1 : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : /* setupFromVertices() //{ */
+      60             : 
+      61             : template <int _N>
+      62           1 : bool PolynomialOptimization<_N>::setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& times, int derivative_to_optimize) {
+      63           1 :   CHECK(derivative_to_optimize >= 0 && derivative_to_optimize <= kHighestDerivativeToOptimize)
+      64           0 :       << "You tried to optimize the " << derivative_to_optimize << "th derivative of position on a " << N
+      65           0 :       << "th order polynomial. This is not possible, you either need a higher "
+      66             :          "order polynomial or a smaller derivative to optimize.";
+      67             : 
+      68           1 :   derivative_to_optimize_ = derivative_to_optimize;
+      69           1 :   vertices_               = vertices;
+      70           1 :   segment_times_          = times;
+      71             : 
+      72           1 :   n_vertices_ = vertices.size();
+      73           1 :   n_segments_ = n_vertices_ - 1;
+      74             : 
+      75           1 :   segments_.resize(n_segments_, Segment(N, dimension_));
+      76             : 
+      77           1 :   CHECK(n_vertices_ == times.size() + 1) << "Size of times must be one less than positions.";
+      78             : 
+      79           1 :   inverse_mapping_matrices_.resize(n_segments_);
+      80           1 :   cost_matrices_.resize(n_segments_);
+      81             : 
+      82             :   // Iterate through all vertices and remove invalid constraints (order too
+      83             :   // high).
+      84           3 :   for (size_t vertex_idx = 0; vertex_idx < n_vertices_; ++vertex_idx) {
+      85           2 :     Vertex& vertex = vertices_[vertex_idx];
+      86             : 
+      87             :     // Check if we have valid constraints.
+      88           2 :     bool   vertex_valid = true;
+      89           4 :     Vertex vertex_tmp(dimension_);
+      90           9 :     for (Vertex::Constraints::const_iterator it = vertex.cBegin(); it != vertex.cEnd(); ++it) {
+      91           7 :       if (it->first > kHighestDerivativeToOptimize) {
+      92           0 :         vertex_valid = false;
+      93           0 :         LOG(WARNING) << "Invalid constraint on vertex " << vertex_idx << ": maximum possible derivative is " << kHighestDerivativeToOptimize
+      94           0 :                      << ", but was set to " << it->first << ". Ignoring constraint";
+      95             :       } else {
+      96           7 :         vertex_tmp.addConstraint(it->first, it->second);
+      97             :       }
+      98             :     }
+      99           2 :     if (!vertex_valid) {
+     100           2 :       vertex = vertex_tmp;
+     101             :     }
+     102             :   }
+     103           1 :   updateSegmentTimes(times);
+     104           1 :   setupConstraintReorderingMatrix();
+     105           1 :   return true;
+     106             : }
+     107             : 
+     108             : //}
+     109             : 
+     110             : /* setupMappingMatrix() //{ */
+     111             : 
+     112             : template <int _N>
+     113           3 : void PolynomialOptimization<_N>::setupMappingMatrix(double segment_time, SquareMatrix* A) {
+     114             :   // The sum of fixed/free variables has to be equal on both ends of the
+     115             :   // segment.
+     116             :   // Thus, A is created as [A(t=0); A(t=segment_time)].
+     117          18 :   for (int i = 0; i < N / 2; ++i) {
+     118          15 :     A->row(i)         = Polynomial::baseCoeffsWithTime(N, i, 0.0);
+     119          15 :     A->row(i + N / 2) = Polynomial::baseCoeffsWithTime(N, i, segment_time);
+     120             :   }
+     121           3 : }
+     122             : 
+     123             : //}
+     124             : 
+     125             : /* computeCost() //{ */
+     126             : 
+     127             : template <int _N>
+     128           1 : double PolynomialOptimization<_N>::computeCost() const {
+     129           1 :   CHECK(n_segments_ == segments_.size() && n_segments_ == cost_matrices_.size());
+     130             :   double cost = 0;
+     131           2 :   for (size_t segment_idx = 0; segment_idx < n_segments_; ++segment_idx) {
+     132           1 :     const SquareMatrix& Q       = cost_matrices_[segment_idx];
+     133           1 :     const Segment&      segment = segments_[segment_idx];
+     134           5 :     for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     135           8 :       const Eigen::VectorXd c            = segment[dimension_idx].getCoefficients(derivative_order::POSITION);
+     136           4 :       const double          partial_cost = c.transpose() * Q * c;
+     137           4 :       cost += partial_cost;
+     138             :     }
+     139             :   }
+     140           1 :   return 0.5 * cost;  // cost = 0.5 * c^T * Q * c
+     141             : }
+     142             : 
+     143             : //}
+     144             : 
+     145             : /* invertMappingMatrix() //{ */
+     146             : 
+     147             : template <int _N>
+     148           3 : void PolynomialOptimization<_N>::invertMappingMatrix(const SquareMatrix& mapping_matrix, SquareMatrix* inverse_mapping_matrix) {
+     149             :   // The mapping matrix has the following structure:
+     150             :   // [ x 0 0 0 0 0 ]
+     151             :   // [ 0 x 0 0 0 0 ]
+     152             :   // [ 0 0 x 0 0 0 ]
+     153             :   // [ x x x x x x ]
+     154             :   // [ 0 x x x x x ]
+     155             :   // [ 0 0 x x x x ]
+     156             :   // ==>
+     157             :   // [ A_diag B=0 ]
+     158             :   // [ C      D   ]
+     159             :   // We make use of the Schur-complement, so the inverse is:
+     160             :   // [ inv(A_diag)               0      ]
+     161             :   // [ -inv(D) * C * inv(A_diag) inv(D) ]
+     162           3 :   const int half_n = N / 2;
+     163             : 
+     164             :   // "template" keyword required below as half_n is dependent on the template
+     165             :   // parameter.
+     166           3 :   const Eigen::Matrix<double, half_n, 1>      A_diag = mapping_matrix.template block<half_n, half_n>(0, 0).diagonal();
+     167           3 :   const Eigen::Matrix<double, half_n, half_n> A_inv  = A_diag.cwiseInverse().asDiagonal();
+     168             : 
+     169           3 :   const Eigen::Matrix<double, half_n, half_n> C = mapping_matrix.template block<half_n, half_n>(half_n, 0);
+     170             : 
+     171           3 :   const Eigen::Matrix<double, half_n, half_n> D_inv = mapping_matrix.template block<half_n, half_n>(half_n, half_n).inverse();
+     172             : 
+     173           3 :   inverse_mapping_matrix->template block<half_n, half_n>(0, 0) = A_inv;
+     174           3 :   inverse_mapping_matrix->template block<half_n, half_n>(0, half_n).setZero();
+     175           3 :   inverse_mapping_matrix->template block<half_n, half_n>(half_n, 0)      = -D_inv * C * A_inv;
+     176           3 :   inverse_mapping_matrix->template block<half_n, half_n>(half_n, half_n) = D_inv;
+     177           3 : }
+     178             : 
+     179             : //}
+     180             : 
+     181             : /* setupConstraintReorderingMatrix() //{ */
+     182             : 
+     183             : template <int _N>
+     184           1 : void PolynomialOptimization<_N>::setupConstraintReorderingMatrix() {
+     185             :   typedef Eigen::Triplet<double> Triplet;
+     186           2 :   std::vector<Triplet>           reordering_list;
+     187             : 
+     188           1 :   const size_t n_vertices = vertices_.size();
+     189             : 
+     190           2 :   std::vector<Constraint> all_constraints;
+     191           1 :   std::set<Constraint>    fixed_constraints;
+     192           1 :   std::set<Constraint>    free_constraints;
+     193             : 
+     194           1 :   all_constraints.reserve(n_vertices_ * N / 2);  // Will have exactly this number of elements in the end.
+     195             : 
+     196           3 :   for (size_t vertex_idx = 0; vertex_idx < n_vertices; ++vertex_idx) {
+     197           2 :     const Vertex& vertex = vertices_[vertex_idx];
+     198             : 
+     199             :     // Extract constraints and sort them to fixed and free. For the start and
+     200             :     // end Vertex, we need to do this once, while we need to do it twice for the
+     201             :     // other vertices, since constraints are shared and enforce continuity.
+     202           2 :     int n_constraint_occurence = 2;
+     203           2 :     if (vertex_idx == 0 || vertex_idx == (n_segments_))
+     204           2 :       n_constraint_occurence = 1;
+     205           4 :     for (int co = 0; co < n_constraint_occurence; ++co) {
+     206          12 :       for (size_t constraint_idx = 0; constraint_idx < N / 2; ++constraint_idx) {
+     207          10 :         Constraint constraint;
+     208          10 :         constraint.vertex_idx     = vertex_idx;
+     209          10 :         constraint.constraint_idx = constraint_idx;
+     210          10 :         bool has_constraint       = vertex.getConstraint(constraint_idx, &(constraint.value));
+     211          10 :         if (has_constraint) {
+     212           7 :           all_constraints.push_back(constraint);
+     213          10 :           fixed_constraints.insert(constraint);
+     214             :         } else {
+     215           3 :           constraint.value = Vertex::ConstraintValue::Constant(dimension_, 0);
+     216           3 :           all_constraints.push_back(constraint);
+     217          10 :           free_constraints.insert(constraint);
+     218             :         }
+     219             :       }
+     220             :     }
+     221             :   }
+     222             : 
+     223           1 :   n_all_constraints_   = all_constraints.size();
+     224           1 :   n_fixed_constraints_ = fixed_constraints.size();
+     225           1 :   n_free_constraints_  = free_constraints.size();
+     226             : 
+     227           1 :   reordering_list.reserve(n_all_constraints_);
+     228           1 :   constraint_reordering_ = Eigen::SparseMatrix<double>(n_all_constraints_, n_fixed_constraints_ + n_free_constraints_);
+     229             : 
+     230           5 :   for (Eigen::VectorXd& df : fixed_constraints_compact_)
+     231           8 :     df.resize(n_fixed_constraints_, Eigen::NoChange);
+     232             : 
+     233           1 :   int row = 0;
+     234           1 :   int col = 0;
+     235          11 :   for (const Constraint& ca : all_constraints) {
+     236          80 :     for (const Constraint& cf : fixed_constraints) {
+     237          70 :       if (ca == cf) {
+     238           7 :         reordering_list.emplace_back(Triplet(row, col, 1.0));
+     239          35 :         for (size_t d = 0; d < dimension_; ++d) {
+     240          28 :           Eigen::VectorXd&      df                        = fixed_constraints_compact_[d];
+     241          56 :           const Eigen::VectorXd constraint_all_dimensions = cf.value;
+     242          28 :           df[col]                                         = constraint_all_dimensions[d];
+     243             :         }
+     244             :       }
+     245          70 :       ++col;
+     246             :     }
+     247          40 :     for (const Constraint& cp : free_constraints) {
+     248          30 :       if (ca == cp)
+     249           3 :         reordering_list.emplace_back(Triplet(row, col, 1.0));
+     250          30 :       ++col;
+     251             :     }
+     252          10 :     col = 0;
+     253          10 :     ++row;
+     254             :   }
+     255             : 
+     256           1 :   constraint_reordering_.setFromTriplets(reordering_list.begin(), reordering_list.end());
+     257           1 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : /* setupConstraintReorderingMatrix() //{ */
+     262             : 
+     263             : template <int _N>
+     264           2 : void PolynomialOptimization<_N>::updateSegmentsFromCompactConstraints() {
+     265           2 :   const size_t n_all_constraints = n_fixed_constraints_ + n_free_constraints_;
+     266             : 
+     267          10 :   for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     268           8 :     const Eigen::VectorXd& df     = fixed_constraints_compact_[dimension_idx];
+     269           8 :     const Eigen::VectorXd& dp_opt = free_constraints_compact_[dimension_idx];
+     270             : 
+     271          16 :     Eigen::VectorXd d_all(n_all_constraints);
+     272           8 :     d_all << df, dp_opt;
+     273             : 
+     274          16 :     for (size_t i = 0; i < n_segments_; ++i) {
+     275           8 :       const Eigen::Matrix<double, N, 1> new_d   = constraint_reordering_.block(i * N, 0, N, n_all_constraints) * d_all;
+     276           8 :       const Eigen::Matrix<double, N, 1> coeffs  = inverse_mapping_matrices_[i] * new_d;
+     277           8 :       Segment&                          segment = segments_[i];
+     278           8 :       segment.setTime(segment_times_[i]);
+     279           8 :       segment[dimension_idx] = Polynomial(N, coeffs);
+     280             :     }
+     281             :   }
+     282           2 : }
+     283             : 
+     284             : //}
+     285             : 
+     286             : /* updateSegmentTimes() //{ */
+     287             : 
+     288             : template <int _N>
+     289           3 : void PolynomialOptimization<_N>::updateSegmentTimes(const std::vector<double>& segment_times) {
+     290           3 :   const size_t n_segment_times = segment_times.size();
+     291           3 :   CHECK(n_segment_times == n_segments_) << "Number of segment times (" << n_segment_times << ") does not match number of segments (" << n_segments_ << ")";
+     292             : 
+     293           3 :   segment_times_ = segment_times;
+     294             : 
+     295           6 :   for (size_t i = 0; i < n_segments_; i++) {
+     296           3 :     const double segment_time = segment_times[i];
+     297           3 :     CHECK_GT(segment_time, 0) << "Segment times need to be greater than zero";
+     298             : 
+     299           3 :     computeQuadraticCostJacobian(derivative_to_optimize_, segment_time, &cost_matrices_[i]);
+     300           3 :     SquareMatrix A;
+     301           3 :     setupMappingMatrix(segment_time, &A);
+     302           3 :     invertMappingMatrix(A, &inverse_mapping_matrices_[i]);
+     303             :   };
+     304           3 : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* constructR() //{ */
+     309             : 
+     310             : template <int _N>
+     311           2 : void PolynomialOptimization<_N>::constructR(Eigen::SparseMatrix<double>* R) const {
+     312           2 :   CHECK_NOTNULL(R);
+     313             :   typedef Eigen::Triplet<double> Triplet;
+     314           4 :   std::vector<Triplet>           cost_unconstrained_triplets;
+     315           2 :   cost_unconstrained_triplets.reserve(N * N * n_segments_);
+     316             : 
+     317           4 :   for (size_t i = 0; i < n_segments_; ++i) {
+     318           2 :     const SquareMatrix& Ai        = inverse_mapping_matrices_[i];
+     319           2 :     const SquareMatrix& Q         = cost_matrices_[i];
+     320           2 :     const SquareMatrix  H         = Ai.transpose() * Q * Ai;
+     321           2 :     const int           start_pos = i * N;
+     322          22 :     for (int row = 0; row < N; ++row) {
+     323         220 :       for (int col = 0; col < N; ++col) {
+     324         200 :         cost_unconstrained_triplets.emplace_back(Triplet(start_pos + row, start_pos + col, H(row, col)));
+     325             :       }
+     326             :     }
+     327             :   }
+     328           4 :   Eigen::SparseMatrix<double> cost_unconstrained(N * n_segments_, N * n_segments_);
+     329           2 :   cost_unconstrained.setFromTriplets(cost_unconstrained_triplets.begin(), cost_unconstrained_triplets.end());
+     330             : 
+     331             :   // [1]: R = C^T * H * C. C: constraint_reodering_ ; H: cost_unconstrained,
+     332             :   // assembled from the block-H above.
+     333           2 :   *R = constraint_reordering_.transpose() * cost_unconstrained * constraint_reordering_;
+     334           2 : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* solveLinear() //{ */
+     339             : 
+     340             : template <int _N>
+     341           2 : bool PolynomialOptimization<_N>::solveLinear() {
+     342           2 :   CHECK(derivative_to_optimize_ >= 0 && derivative_to_optimize_ <= kHighestDerivativeToOptimize);
+     343             :   // Catch the fully constrained case:
+     344           2 :   if (n_free_constraints_ == 0) {
+     345           0 :     DLOG(WARNING) << "No free constraints set in the vertices. Polynomial can "
+     346             :                      "not be optimized. Outputting fully constrained polynomial.";
+     347           0 :     updateSegmentsFromCompactConstraints();
+     348           0 :     return true;
+     349             :   }
+     350             : 
+     351             :   // TODO(acmarkus): figure out if sparse becomes less efficient for small
+     352             :   // problems, and switch back to dense in case.
+     353             : 
+     354             :   // Compute cost matrix for the unconstrained optimization problem.
+     355             :   // Block-wise H = A^{-T}QA^{-1} according to [1]
+     356           4 :   Eigen::SparseMatrix<double> R;
+     357           2 :   constructR(&R);
+     358             : 
+     359             :   // Extract block matrices and prepare solver.
+     360           4 :   Eigen::SparseMatrix<double> Rpf = R.block(n_fixed_constraints_, 0, n_free_constraints_, n_fixed_constraints_);
+     361           4 :   Eigen::SparseMatrix<double> Rpp = R.block(n_fixed_constraints_, n_fixed_constraints_, n_free_constraints_, n_free_constraints_);
+     362           4 :   Eigen::SparseQR<Eigen::SparseMatrix<double>, Eigen::COLAMDOrdering<int>> solver;
+     363          10 :   solver.compute(Rpp);
+     364             : 
+     365             :   // Compute dp_opt for every dimension.
+     366          10 :   for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     367          16 :     Eigen::VectorXd df                       = -Rpf * fixed_constraints_compact_[dimension_idx];  // Rpf = Rfp^T
+     368           8 :     free_constraints_compact_[dimension_idx] = solver.solve(df);                                  // dp = -Rpp^-1 * Rpf * df
+     369             :   }
+     370             : 
+     371           2 :   updateSegmentsFromCompactConstraints();
+     372             :   return true;
+     373             : }
+     374             : 
+     375             : //}
+     376             : 
+     377             : /* printReorderingMatrix() //{ */
+     378             : 
+     379             : template <int _N>
+     380             : void PolynomialOptimization<_N>::printReorderingMatrix(std::ostream& stream) const {
+     381             :   stream << "Mapping matrix:\n" << constraint_reordering_ << std::endl;
+     382             : }
+     383             : 
+     384             : //}
+     385             : 
+     386             : /* computeSegmentMaximumMagnitudeCandidates() //{ */
+     387             : 
+     388             : template <int _N>
+     389             : template <int Derivative>
+     390             : bool PolynomialOptimization<_N>::computeSegmentMaximumMagnitudeCandidates(const Segment& segment, double t_start, double t_stop,
+     391             :                                                                           std::vector<double>* candidates) {
+     392             :   return computeSegmentMaximumMagnitudeCandidates(Derivative, segment, t_start, t_stop, candidates);
+     393             : }
+     394             : 
+     395             : //}
+     396             : 
+     397             : /* computeSegmentMaximumMagnitudeCandidates() //{ */
+     398             : 
+     399             : template <int _N>
+     400           0 : bool PolynomialOptimization<_N>::computeSegmentMaximumMagnitudeCandidates(int derivative, const Segment& segment, double t_start, double t_stop,
+     401             :                                                                           std::vector<double>* candidates) {
+     402           0 :   CHECK(candidates);
+     403           0 :   CHECK(N - derivative - 1 > 0) << "N-Derivative-1 has to be greater 0";
+     404             : 
+     405             :   // Use the implementation of this in the segment (template-free) as it's
+     406             :   // actually faster.
+     407           0 :   std::vector<int> dimensions(segment.D());
+     408           0 :   std::iota(dimensions.begin(), dimensions.end(), 0);
+     409           0 :   return segment.computeMinMaxMagnitudeCandidateTimes(derivative, t_start, t_stop, dimensions, candidates);
+     410             : }
+     411             : 
+     412             : //}
+     413             : 
+     414             : /* computeSegmentMaximumMagnitudeCandidatesBySampling() //{ */
+     415             : 
+     416             : template <int _N>
+     417             : template <int Derivative>
+     418             : void PolynomialOptimization<_N>::
+     419             :     computeSegmentMaximumMagnitudeCandidatesBySampling(
+     420             :         const Segment& segment, double t_start, double t_stop, double dt,
+     421             :         std::vector<double>* candidates) {
+     422             :   CHECK_NOTNULL(candidates);
+     423             :   // Start is candidate.
+     424             :   candidates->push_back(t_start);
+     425             : 
+     426             :   // Determine initial direction from t_start to t_start + dt.
+     427             :   auto t_old = t_start + dt;
+     428             :   auto value_new = segment.evaluate(t_old, Derivative);
+     429             :   auto value_old = segment.evaluate(t_start, Derivative);
+     430             :   auto direction = value_new.norm() - value_old.norm();
+     431             : 
+     432             :   // Continue with direction from t_start + dt to t_start + 2 dt until t_stop.
+     433             :   bool last_sample = false;
+     434             :   for (double t = t_start + dt + dt; t <= t_stop; t += dt) {
+     435             :     // Update direction.
+     436             :     value_old = value_new;
+     437             :     value_new = segment.evaluate(t, Derivative);
+     438             :     auto direction_new = value_new.norm() - value_old.norm();
+     439             : 
+     440             :     if (std::signbit(direction) != std::signbit(direction_new)) {
+     441             :       auto value_deriv = segment.evaluate(t_old, Derivative + 1);
+     442             :       if (value_deriv.norm() < 1e-2) {
+     443             :         candidates->push_back(t_old);  // extremum was at last dt
+     444             :       }
+     445             :     }
+     446             : 
+     447             :     direction = direction_new;
+     448             :     t_old = t;
+     449             : 
+     450             :     // Check last sample before t_stop.
+     451             :     if ((t + dt) > t_stop && !last_sample) {
+     452             :       t = t_stop - dt;
+     453             :       last_sample = true;
+     454             :     }
+     455             :   }
+     456             : 
+     457             :   // End is candidates.
+     458             :   if (candidates->back() != t_stop) {
+     459             :     candidates->push_back(t_stop);
+     460             :   }
+     461             : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : /* computeMaximumOfMagnitude() //{ */
+     466             : 
+     467             : template <int _N>
+     468             : template <int Derivative>
+     469             : Extremum PolynomialOptimization<_N>::computeMaximumOfMagnitude(std::vector<Extremum>* candidates) const {
+     470             :   return computeMaximumOfMagnitude(Derivative, candidates);
+     471             : }
+     472             : 
+     473             : //}
+     474             : 
+     475             : /* computeMaximumOfMagnitude() //{ */
+     476             : 
+     477             : template <int _N>
+     478           0 : Extremum PolynomialOptimization<_N>::computeMaximumOfMagnitude(int derivative, std::vector<Extremum>* candidates) const {
+     479           0 :   if (candidates != nullptr)
+     480           0 :     candidates->clear();
+     481             : 
+     482           0 :   int      segment_idx = 0;
+     483           0 :   Extremum extremum;
+     484           0 :   for (const Segment& s : segments_) {
+     485           0 :     std::vector<double> extrema_times;
+     486           0 :     extrema_times.reserve(N - 1);
+     487             :     // Add the beginning as well. Call below appends its extrema.
+     488           0 :     extrema_times.push_back(0.0);
+     489           0 :     computeSegmentMaximumMagnitudeCandidates(derivative, s, 0.0, s.getTime(), &extrema_times);
+     490             : 
+     491           0 :     for (double t : extrema_times) {
+     492           0 :       const Extremum candidate(t, s.evaluate(t, derivative).norm(), segment_idx);
+     493           0 :       if (extremum < candidate)
+     494           0 :         extremum = candidate;
+     495           0 :       if (candidates != nullptr)
+     496           0 :         candidates->emplace_back(candidate);
+     497             :     }
+     498           0 :     ++segment_idx;
+     499             :   }
+     500             :   // Check last time at last segment.
+     501           0 :   const Extremum candidate(segments_.back().getTime(), segments_.back().evaluate(segments_.back().getTime(), derivative).norm(), n_segments_ - 1);
+     502           0 :   if (extremum < candidate)
+     503           0 :     extremum = candidate;
+     504           0 :   if (candidates != nullptr)
+     505           0 :     candidates->emplace_back(candidate);
+     506             : 
+     507           0 :   return extremum;
+     508             : }
+     509             : 
+     510             : //}
+     511             : 
+     512             : /* setFreeConstraints() //{ */
+     513             : 
+     514             : template <int _N>
+     515           0 : void PolynomialOptimization<_N>::setFreeConstraints(const std::vector<Eigen::VectorXd>& free_constraints) {
+     516           0 :   CHECK(free_constraints.size() == dimension_);
+     517           0 :   for (const Eigen::VectorXd& v : free_constraints)
+     518           0 :     CHECK(static_cast<size_t>(v.size()) == n_free_constraints_);
+     519             : 
+     520           0 :   free_constraints_compact_ = free_constraints;
+     521           0 :   updateSegmentsFromCompactConstraints();
+     522           0 : }
+     523             : 
+     524             : //}
+     525             : 
+     526             : /* getAInverse() //{ */
+     527             : 
+     528             : template <int _N>
+     529             : void PolynomialOptimization<_N>::getAInverse(Eigen::MatrixXd* A_inv) const {
+     530             :   CHECK_NOTNULL(A_inv);
+     531             : 
+     532             :   A_inv->resize(N * n_segments_, N * n_segments_);
+     533             :   A_inv->setZero();
+     534             : 
+     535             :   for (size_t i = 0; i < n_segments_; ++i) {
+     536             :     (*A_inv).block<N, N>(N * i, N * i) = inverse_mapping_matrices_[i];
+     537             :   }
+     538             : }
+     539             : 
+     540             : //}
+     541             : 
+     542             : /* getM() //{ */
+     543             : 
+     544             : template <int _N>
+     545             : void PolynomialOptimization<_N>::getM(Eigen::MatrixXd* M) const {
+     546             :   CHECK_NOTNULL(M);
+     547             :   *M = constraint_reordering_;
+     548             : }
+     549             : 
+     550             : //}
+     551             : 
+     552             : /* getR() //{ */
+     553             : 
+     554             : template <int _N>
+     555             : void PolynomialOptimization<_N>::getR(Eigen::MatrixXd* R) const {
+     556             :   CHECK_NOTNULL(R);
+     557             : 
+     558             :   Eigen::SparseMatrix<double> R_sparse;
+     559             :   constructR(&R_sparse);
+     560             : 
+     561             :   *R = R_sparse;
+     562             : }
+     563             : 
+     564             : //}
+     565             : 
+     566             : /* getA() //{ */
+     567             : 
+     568             : template <int _N>
+     569             : void PolynomialOptimization<_N>::getA(Eigen::MatrixXd* A) const {
+     570             :   CHECK_NOTNULL(A);
+     571             :   A->resize(N * n_segments_, N * n_segments_);
+     572             :   A->setZero();
+     573             : 
+     574             :   // Create a mapping matrix per segment and append them together.
+     575             :   for (size_t i = 0; i < n_segments_; ++i) {
+     576             :     const double segment_time = segment_times_[i];
+     577             :     CHECK_GT(segment_time, 0) << "Segment times need to be greater than zero";
+     578             : 
+     579             :     SquareMatrix A_segment;
+     580             :     setupMappingMatrix(segment_time, &A_segment);
+     581             : 
+     582             :     (*A).block<N, N>(N * i, N * i) = A_segment;
+     583             :   }
+     584             : }
+     585             : 
+     586             : //}
+     587             : 
+     588             : /* getMpinv() //{ */
+     589             : 
+     590             : template <int _N>
+     591             : void PolynomialOptimization<_N>::getMpinv(Eigen::MatrixXd* M_pinv) const {
+     592             :   CHECK_NOTNULL(M_pinv);
+     593             : 
+     594             :   // Pseudoinverse implementation by @SebastianInd.
+     595             :   *M_pinv = constraint_reordering_.transpose();
+     596             :   for (int M_row = 0; M_row < M_pinv->rows(); M_row++) {
+     597             :     M_pinv->row(M_row) = M_pinv->row(M_row) / M_pinv->row(M_row).sum();
+     598             :   }
+     599             : }
+     600             : 
+     601             : //}
+     602             : 
+     603             : /* computeQuadraticCostJacobian() //{ */
+     604             : 
+     605             : template <int _N>
+     606           3 : void PolynomialOptimization<_N>::computeQuadraticCostJacobian(int derivative, double t, SquareMatrix* cost_jacobian) {
+     607           3 :   CHECK_LT(derivative, N);
+     608             : 
+     609           3 :   cost_jacobian->setZero();
+     610          27 :   for (int col = 0; col < N - derivative; col++) {
+     611         216 :     for (int row = 0; row < N - derivative; row++) {
+     612         192 :       double exponent = (N - 1 - derivative) * 2 + 1 - row - col;
+     613             : 
+     614         192 :       (*cost_jacobian)(N - 1 - row, N - 1 - col) =
+     615         192 :           Polynomial::base_coefficients_(derivative, N - 1 - row) * Polynomial::base_coefficients_(derivative, N - 1 - col) * pow(t, exponent) * 2.0 / exponent;
+     616             :     }
+     617             :   }
+     618           3 : }
+     619             : 
+     620             : //}
+     621             : 
+     622             : }  // namespace eth_trajectory_generation
+     623             : 
+     624             : #endif  // eth_trajectory_generation_IMPL_POLYNOMIAL_OPTIMIZATION_LINEAR_IMPL_H_
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_nonlinear_impl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12341329.8 %
Date:2023-12-06 10:06:33Functions:81844.4 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTime()0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTime(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeAndFreeConstraints()0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::evaluateMaximumMagnitudeConstraint(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeAndConstraints(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::setFreeEndpointDerivativeHardConstraints(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> >*, std::vector<double, std::allocator<double> >*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::evaluateMaximumMagnitudeAsSoftConstraint(std::vector<std::shared_ptr<eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::ConstraintData>, std::allocator<std::shared_ptr<eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::ConstraintData> > > const&, double, double) const0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#2}::operator()(double) const [clone .isra.0]0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#3}::operator()(double) const [clone .isra.0]0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#1}::operator()(double) const [clone .isra.0]0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::setupFromVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> > const&, int)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::getCostAndGradientMellinger(std::vector<double, std::allocator<double> >*)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::scaleSegmentTimesWithViolation()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeMellingerOuterLoop(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimize()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::PolynomialOptimizationNonLinear(unsigned long, eth_trajectory_generation::NonlinearOptimizationParameters const&)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::addMaximumMagnitudeConstraint(int, int, double)12
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Date:2023-12-06 10:06:33Functions:81844.4 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTime()0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::setupFromVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> > const&, int)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTime(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::getCostAndGradientMellinger(std::vector<double, std::allocator<double> >*)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::addMaximumMagnitudeConstraint(int, int, double)12
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeAndFreeConstraints()0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::scaleSegmentTimesWithViolation()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::evaluateMaximumMagnitudeConstraint(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeAndConstraints(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeMellingerOuterLoop(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::setFreeEndpointDerivativeHardConstraints(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> >*, std::vector<double, std::allocator<double> >*)0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimize()1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::PolynomialOptimizationNonLinear(unsigned long, eth_trajectory_generation::NonlinearOptimizationParameters const&)1
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::evaluateMaximumMagnitudeAsSoftConstraint(std::vector<std::shared_ptr<eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::ConstraintData>, std::allocator<std::shared_ptr<eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::ConstraintData> > > const&, double, double) const0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#2}::operator()(double) const [clone .isra.0]0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#3}::operator()(double) const [clone .isra.0]0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#1}::operator()(double) const [clone .isra.0]0
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Date:2023-12-06 10:06:33Functions:81844.4 %
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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           1 : PolynomialOptimizationNonLinear<_N>::PolynomialOptimizationNonLinear(size_t dimension, const NonlinearOptimizationParameters& parameters)
+      48           1 :     : poly_opt_(dimension), optimization_parameters_(parameters) {
+      49           1 : }
+      50             : 
+      51             : template <int _N>
+      52           1 : bool PolynomialOptimizationNonLinear<_N>::setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& segment_times,
+      53             :                                                             int derivative_to_optimize) {
+      54           1 :   bool ret = poly_opt_.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+      55             : 
+      56             :   size_t n_optimization_parameters;
+      57           1 :   switch (optimization_parameters_.time_alloc_method) {
+      58           1 :     case NonlinearOptimizationParameters::kSquaredTime:
+      59             :     case NonlinearOptimizationParameters::kRichterTime:
+      60             :     case NonlinearOptimizationParameters::kMellingerOuterLoop:
+      61           1 :       n_optimization_parameters = segment_times.size();
+      62           1 :       break;
+      63           0 :     default:
+      64           0 :       n_optimization_parameters = segment_times.size() + poly_opt_.getNumberFreeConstraints() * poly_opt_.getDimension();
+      65           0 :       break;
+      66             :   }
+      67             : 
+      68           1 :   nlopt_.reset(new nlopt::opt(optimization_parameters_.algorithm, n_optimization_parameters));
+      69           1 :   nlopt_->set_ftol_rel(optimization_parameters_.f_rel);
+      70           1 :   nlopt_->set_ftol_abs(optimization_parameters_.f_abs);
+      71           1 :   nlopt_->set_xtol_rel(optimization_parameters_.x_rel);
+      72           1 :   nlopt_->set_xtol_abs(optimization_parameters_.x_abs);
+      73           1 :   nlopt_->set_maxeval(optimization_parameters_.max_iterations);
+      74           1 :   nlopt_->set_maxtime(optimization_parameters_.max_time);
+      75             : 
+      76           1 :   if (optimization_parameters_.random_seed < 0)
+      77           0 :     nlopt_srand_time();
+      78             :   else
+      79           1 :     nlopt_srand(optimization_parameters_.random_seed);
+      80             : 
+      81           1 :   return ret;
+      82             : }
+      83             : 
+      84             : template <int _N>
+      85             : bool PolynomialOptimizationNonLinear<_N>::solveLinear() {
+      86             :   return poly_opt_.solveLinear();
+      87             : }
+      88             : 
+      89             : template <int _N>
+      90           1 : int PolynomialOptimizationNonLinear<_N>::optimize() {
+      91           1 :   optimization_info_ = OptimizationInfo();
+      92           1 :   int result         = nlopt::FAILURE;
+      93             : 
+      94           1 :   const std::chrono::high_resolution_clock::time_point t_start = std::chrono::high_resolution_clock::now();
+      95             : 
+      96           1 :   switch (optimization_parameters_.time_alloc_method) {
+      97           0 :     case NonlinearOptimizationParameters::kSquaredTime:
+      98             :     case NonlinearOptimizationParameters::kRichterTime:
+      99           0 :       result = optimizeTime();
+     100             :       break;
+     101           0 :     case NonlinearOptimizationParameters::kSquaredTimeAndConstraints:
+     102             :     case NonlinearOptimizationParameters::kRichterTimeAndConstraints:
+     103           0 :       result = optimizeTimeAndFreeConstraints();
+     104             :       break;
+     105           1 :     case NonlinearOptimizationParameters::kMellingerOuterLoop:
+     106           1 :       result = optimizeTimeMellingerOuterLoop();
+     107             :       break;
+     108             :     default:
+     109             :       break;
+     110             :   }
+     111             : 
+     112           1 :   const std::chrono::high_resolution_clock::time_point t_stop = std::chrono::high_resolution_clock::now();
+     113           1 :   optimization_info_.optimization_time                        = std::chrono::duration_cast<std::chrono::duration<double>>(t_stop - t_start).count();
+     114             : 
+     115           1 :   optimization_info_.stopping_reason = result;
+     116             : 
+     117           1 :   return result;
+     118             : }
+     119             : 
+     120             : template <int _N>
+     121           0 : int PolynomialOptimizationNonLinear<_N>::optimizeTime() {
+     122           0 :   std::vector<double> initial_step, segment_times;
+     123             : 
+     124           0 :   poly_opt_.getSegmentTimes(&segment_times);
+     125           0 :   const size_t n_segments = segment_times.size();
+     126             : 
+     127           0 :   initial_step.reserve(n_segments);
+     128           0 :   for (double t : segment_times) {
+     129           0 :     initial_step.push_back(optimization_parameters_.initial_stepsize_rel * t);
+     130             :   }
+     131             : 
+     132             :   try {
+     133             :     // Set a lower bound on the segment time per segment to avoid numerical
+     134             :     // issues.
+     135           0 :     nlopt_->set_initial_step(initial_step);
+     136           0 :     nlopt_->set_upper_bounds(std::numeric_limits<double>::max());
+     137           0 :     nlopt_->set_lower_bounds(kOptimizationTimeLowerBound);
+     138           0 :     nlopt_->set_min_objective(&PolynomialOptimizationNonLinear<N>::objectiveFunctionTime, this);
+     139             :   }
+     140           0 :   catch (std::exception& e) {
+     141           0 :     LOG(ERROR) << "error while setting up nlopt: " << e.what() << std::endl;
+     142             :     return nlopt::FAILURE;
+     143             :   }
+     144             : 
+     145           0 :   double final_cost = std::numeric_limits<double>::max();
+     146             :   int    result;
+     147             : 
+     148             :   try {
+     149           0 :     result = nlopt_->optimize(segment_times, final_cost);
+     150             :   }
+     151           0 :   catch (std::exception& e) {
+     152           0 :     LOG(ERROR) << "error while running nlopt: " << e.what() << std::endl;
+     153             :     return nlopt::FAILURE;
+     154             :   }
+     155             : 
+     156             :   return result;
+     157             : }
+     158             : 
+     159             : template <int _N>
+     160           1 : int PolynomialOptimizationNonLinear<_N>::optimizeTimeMellingerOuterLoop() {
+     161           1 :   std::vector<double> segment_times;
+     162           1 :   poly_opt_.getSegmentTimes(&segment_times);
+     163             : 
+     164             :   // Save original segment times
+     165           2 :   std::vector<double> original_segment_times = segment_times;
+     166             : 
+     167           1 :   if (optimization_parameters_.print_debug_info_time_allocation) {
+     168           0 :     std::cout << "Segment times: ";
+     169           0 :     for (const double seg_time : segment_times) {
+     170           0 :       std::cout << seg_time << " ";
+     171             :     }
+     172           1 :     std::cout << std::endl;
+     173             :   }
+     174             : 
+     175             :   try {
+     176             :     // Set a lower bound on the segment time per segment to avoid numerical
+     177             :     // issues.
+     178           1 :     nlopt_->set_upper_bounds(std::numeric_limits<double>::max());
+     179           1 :     nlopt_->set_lower_bounds(kOptimizationTimeLowerBound);
+     180           1 :     nlopt_->set_min_objective(&PolynomialOptimizationNonLinear<N>::objectiveFunctionTimeMellingerOuterLoop, this);
+     181             :   }
+     182           0 :   catch (std::exception& e) {
+     183           0 :     LOG(ERROR) << "error while setting up nlopt: " << e.what() << std::endl;
+     184             :     return nlopt::FAILURE;
+     185             :   }
+     186             : 
+     187           1 :   double final_cost = std::numeric_limits<double>::max();
+     188           1 :   int    result     = nlopt::FAILURE;
+     189             : 
+     190             :   try {
+     191           1 :     result = nlopt_->optimize(segment_times, final_cost);
+     192             :   }
+     193           0 :   catch (std::exception& e) {
+     194           0 :     LOG(ERROR) << "error while running nlopt: " << e.what() << ". This likely means the optimization aborted early." << std::endl;
+     195           0 :     if (final_cost == std::numeric_limits<double>::max()) {
+     196             :       return nlopt::FAILURE;
+     197             :     }
+     198             : 
+     199           0 :     if (optimization_parameters_.print_debug_info_time_allocation) {
+     200           0 :       std::cout << "Segment times after opt: ";
+     201           0 :       for (const double seg_time : segment_times) {
+     202           0 :         std::cout << seg_time << " ";
+     203             :       }
+     204           0 :       std::cout << std::endl;
+     205           0 :       std::cout << "Final cost: " << final_cost << std::endl;
+     206           0 :       std::cout << "Nlopt result: " << result << std::endl;
+     207             :     }
+     208             :   }
+     209             : 
+     210             :   // Scaling of segment times
+     211           1 :   std::vector<double> relative_segment_times;
+     212           1 :   poly_opt_.getSegmentTimes(&relative_segment_times);
+     213           1 :   scaleSegmentTimesWithViolation();
+     214           1 :   std::vector<double> scaled_segment_times;
+     215           1 :   poly_opt_.getSegmentTimes(&scaled_segment_times);
+     216             : 
+     217             :   // Print all parameter after scaling
+     218           1 :   if (optimization_parameters_.print_debug_info_time_allocation) {
+     219           0 :     std::cout << "[MEL          Original]: ";
+     220           0 :     std::for_each(original_segment_times.cbegin(), original_segment_times.cend(), [](double c) { std::cout << c << " "; });
+     221           0 :     std::cout << std::endl;
+     222           0 :     std::cout << "[MEL RELATIVE Solution]: ";
+     223           0 :     std::for_each(relative_segment_times.cbegin(), relative_segment_times.cend(), [](double c) { std::cout << c << " "; });
+     224           0 :     std::cout << std::endl;
+     225           0 :     std::cout << "[MEL          Solution]: ";
+     226           0 :     std::for_each(scaled_segment_times.cbegin(), scaled_segment_times.cend(), [](double c) { std::cout << c << " "; });
+     227           0 :     std::cout << std::endl;
+     228           0 :     std::cout << "[MEL   Trajectory Time] Before: " << std::accumulate(original_segment_times.begin(), original_segment_times.end(), 0.0)
+     229           0 :               << " | After Rel Change: " << std::accumulate(relative_segment_times.begin(), relative_segment_times.end(), 0.0)
+     230           0 :               << " | After Scaling: " << std::accumulate(scaled_segment_times.begin(), scaled_segment_times.end(), 0.0) << std::endl;
+     231             :   }
+     232             : 
+     233           1 :   return result;
+     234             : }
+     235             : 
+     236             : template <int _N>
+     237             : double PolynomialOptimizationNonLinear<_N>::getCost() const {
+     238             :   return poly_opt_.computeCost();
+     239             : }
+     240             : 
+     241             : template <int _N>
+     242             : double PolynomialOptimizationNonLinear<_N>::getTotalCostWithSoftConstraints() const {
+     243             :   double cost_trajectory = poly_opt_.computeCost();
+     244             : 
+     245             :   // Use consistent cost metrics regardless of method set, to compare between
+     246             :   // methods.
+     247             :   std::vector<double> segment_times;
+     248             :   poly_opt_.getSegmentTimes(&segment_times);
+     249             :   double total_time       = std::accumulate(segment_times.begin(), segment_times.end(), 0.0);
+     250             :   double cost_time        = total_time * total_time * optimization_parameters_.time_penalty;
+     251             :   double cost_constraints = evaluateMaximumMagnitudeAsSoftConstraint(inequality_constraints_, optimization_parameters_.soft_constraint_weight, 1e9);
+     252             : 
+     253             :   return cost_trajectory + cost_time + cost_constraints;
+     254             : }
+     255             : 
+     256             : template <int _N>
+     257           1 : double PolynomialOptimizationNonLinear<_N>::getCostAndGradientMellinger(std::vector<double>* gradients) {
+     258             :   // Weighting terms for different costs
+     259             :   // Retrieve the current segment times
+     260           1 :   std::vector<double> segment_times;
+     261           1 :   poly_opt_.getSegmentTimes(&segment_times);
+     262           1 :   const double J_d = poly_opt_.computeCost();
+     263             : 
+     264           1 :   if (poly_opt_.getNumberSegments() == 1) {
+     265           1 :     if (gradients != NULL) {
+     266           1 :       gradients->clear();
+     267           1 :       gradients->resize(poly_opt_.getNumberSegments(), 0.0);
+     268             :     }
+     269             : 
+     270           1 :     return J_d;
+     271             :   }
+     272             : 
+     273           0 :   if (gradients != NULL) {
+     274           0 :     const size_t n_segments = poly_opt_.getNumberSegments();
+     275             : 
+     276           0 :     gradients->clear();
+     277           0 :     gradients->resize(n_segments);
+     278             : 
+     279             :     // Initialize changed segment times for numerical derivative
+     280           0 :     std::vector<double> segment_times_bigger(n_segments);
+     281           0 :     const double        increment_time = 0.1;
+     282           0 :     for (size_t n = 0; n < n_segments; ++n) {
+     283             :       // Now the same with an increased segment time
+     284             :       // Calculate cost with higher segment time
+     285           0 :       segment_times_bigger = segment_times;
+     286             :       // Deduct h*(-1/(m-2)) according to paper Mellinger "Minimum snap
+     287             :       // trajectory generation and control for quadrotors"
+     288           0 :       double const_traj_time_corr = increment_time / (n_segments - 1.0);
+     289           0 :       for (size_t i = 0; i < segment_times_bigger.size(); ++i) {
+     290           0 :         if (i == n) {
+     291           0 :           segment_times_bigger[i] += increment_time;
+     292             :         } else {
+     293           0 :           segment_times_bigger[i] -= const_traj_time_corr;
+     294             :         }
+     295             :       }
+     296             : 
+     297             :       // TODO: add case if segment_time is at threshold 0.1s
+     298             :       // 1) How many segments > 0.1s
+     299             :       // 2) trajectory time correction only on those
+     300             :       // for (int j = 0; j < segment_times_bigger.size(); ++j) {
+     301             :       //   double thresh_corr = 0.0;
+     302             :       //   if (segment_times_bigger[j] < 0.1) {
+     303             :       //     thresh_corr = 0.1-segment_times_bigger[j];
+     304             :       //   }
+     305             :       // }
+     306             : 
+     307             :       // Check and make sure that segment times are >
+     308             :       // kOptimizationTimeLowerBound
+     309           0 :       for (double& t : segment_times_bigger) {
+     310           0 :         t = std::max(kOptimizationTimeLowerBound, t);
+     311             :       }
+     312             : 
+     313             :       // Update the segment times. This changes the polynomial coefficients.
+     314           0 :       poly_opt_.updateSegmentTimes(segment_times_bigger);
+     315           0 :       poly_opt_.solveLinear();
+     316             : 
+     317             :       // Calculate cost and gradient with new segment time
+     318           0 :       const double J_d_bigger = poly_opt_.computeCost();
+     319           0 :       const double dJd_dt     = (J_d_bigger - J_d) / increment_time;
+     320             : 
+     321             :       // Calculate the gradient
+     322           0 :       gradients->at(n) = dJd_dt;
+     323             :     }
+     324             : 
+     325             :     // Set again the original segment times from before calculating the
+     326             :     // numerical gradient
+     327           0 :     poly_opt_.updateSegmentTimes(segment_times);
+     328           0 :     poly_opt_.solveLinear();
+     329             :   }
+     330             : 
+     331             :   // Compute cost without gradient
+     332             :   return J_d;
+     333             : }
+     334             : 
+     335             : template <int _N>
+     336           1 : void PolynomialOptimizationNonLinear<_N>::scaleSegmentTimesWithViolation() {
+     337             : 
+     338             :   // Get trajectory
+     339           2 :   Trajectory traj;
+     340           1 :   poly_opt_.getTrajectory(&traj);
+     341             : 
+     342             :   // get constraints
+     343           1 :   double v_max_horizontal = 0.0;
+     344           1 :   double a_max_horizontal = 0.0;
+     345           1 :   double j_max_horizontal = 0.0;
+     346             : 
+     347           1 :   double v_max_vertical = 0.0;
+     348           1 :   double a_max_vertical = 0.0;
+     349           1 :   double j_max_vertical = 0.0;
+     350             : 
+     351           1 :   double v_max_heading = 0.0;
+     352           1 :   double a_max_heading = 0.0;
+     353           1 :   double j_max_heading = 0.0;
+     354             : 
+     355          13 :   for (const auto& constraint : inequality_constraints_) {
+     356          12 :     if (constraint->dimension <= 1) {
+     357           6 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     358           2 :         v_max_horizontal = constraint->value;
+     359           4 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     360           2 :         a_max_horizontal = constraint->value;
+     361           2 :       } else if (constraint->derivative == derivative_order::JERK) {
+     362           2 :         j_max_horizontal = constraint->value;
+     363             :       }
+     364           6 :     } else if (constraint->dimension == 2) {
+     365           3 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     366           1 :         v_max_vertical = constraint->value;
+     367           2 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     368           1 :         a_max_vertical = constraint->value;
+     369           1 :       } else if (constraint->derivative == derivative_order::JERK) {
+     370           1 :         j_max_vertical = constraint->value;
+     371             :       }
+     372           3 :     } else if (constraint->dimension == 3) {
+     373           3 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     374           1 :         v_max_heading = constraint->value;
+     375           2 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     376           1 :         a_max_heading = constraint->value;
+     377           1 :       } else if (constraint->derivative == derivative_order::JERK) {
+     378           1 :         j_max_heading = constraint->value;
+     379             :       }
+     380             :     }
+     381             :   }
+     382             : 
+     383           1 :   if (optimization_parameters_.print_debug_info_time_allocation) {
+     384             : 
+     385             :     double v_max_actual_horizontal, a_max_actual_horizontal, j_max_actual_horizontal;
+     386           0 :     traj.computeMaxDerivativesHorizontal(&v_max_actual_horizontal, &a_max_actual_horizontal, &j_max_actual_horizontal);
+     387           0 :     std::cout << "[Time Scaling] Beginning: v: max: " << v_max_actual_horizontal << " / " << v_max_horizontal << " a: max: " << a_max_actual_horizontal << " / "
+     388           0 :               << a_max_horizontal << std::endl;
+     389             : 
+     390             :     double v_max_actual_vertical, a_max_actual_vertical, j_max_actual_vertical;
+     391           0 :     traj.computeMaxDerivativesVertical(&v_max_actual_vertical, &a_max_actual_vertical, &j_max_actual_vertical);
+     392           0 :     std::cout << "[Time Scaling] Beginning: v: max: " << v_max_actual_vertical << " / " << v_max_vertical << " a: max: " << a_max_actual_vertical << " / "
+     393           0 :               << a_max_vertical << std::endl;
+     394             : 
+     395             :     double v_max_actual_heading, a_max_actual_heading, j_max_actual_heading;
+     396           0 :     traj.computeMaxDerivativesHeading(&v_max_actual_heading, &a_max_actual_heading, &j_max_actual_heading);
+     397           0 :     std::cout << "[Time Scaling] Beginning: v: max: " << v_max_actual_heading << " / " << v_max_heading << " a: max: " << a_max_actual_heading << " / "
+     398           0 :               << a_max_heading << std::endl;
+     399             :   }
+     400             : 
+     401             :   // Run the trajectory time scaling.
+     402           1 :   traj.scaleSegmentTimesToMeetConstraints(v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical, v_max_heading,
+     403             :                                           a_max_heading, j_max_heading);
+     404             : 
+     405           1 :   std::vector<double> segment_times;
+     406           2 :   segment_times = traj.getSegmentTimes();
+     407           1 :   poly_opt_.updateSegmentTimes(segment_times);
+     408           1 :   poly_opt_.solveLinear();
+     409             : 
+     410           1 :   if (optimization_parameters_.print_debug_info_time_allocation) {
+     411             : 
+     412             :     double v_max_actual_horizontal, a_max_actual_horizontal, j_max_actual_horizontal;
+     413           0 :     traj.computeMaxDerivativesHorizontal(&v_max_actual_horizontal, &a_max_actual_horizontal, &j_max_actual_horizontal);
+     414           0 :     std::cout << "[Time Scaling] End: v: max: " << v_max_actual_horizontal << " / " << v_max_horizontal << " a: max: " << a_max_actual_horizontal << " / "
+     415           0 :               << a_max_horizontal << std::endl;
+     416             : 
+     417             :     double v_max_actual_vertical, a_max_actual_vertical, j_max_actual_vertical;
+     418           0 :     traj.computeMaxDerivativesVertical(&v_max_actual_vertical, &a_max_actual_vertical, &j_max_actual_vertical);
+     419           0 :     std::cout << "[Time Scaling] End: v: max: " << v_max_actual_vertical << " / " << v_max_vertical << " a: max: " << a_max_actual_vertical << " / "
+     420           0 :               << a_max_vertical << std::endl;
+     421             : 
+     422             :     double v_max_actual_heading, a_max_actual_heading, j_max_actual_heading;
+     423           0 :     traj.computeMaxDerivativesHeading(&v_max_actual_heading, &a_max_actual_heading, &j_max_actual_heading);
+     424           0 :     std::cout << "[Time Scaling] End: v: max: " << v_max_actual_heading << " / " << v_max_heading << " a: max: " << a_max_actual_heading << " / "
+     425           0 :               << a_max_heading << std::endl;
+     426             :   }
+     427           1 : }
+     428             : 
+     429             : template <int _N>
+     430           0 : int PolynomialOptimizationNonLinear<_N>::optimizeTimeAndFreeConstraints() {
+     431           0 :   std::vector<double> initial_step, initial_solution, segment_times, lower_bounds, upper_bounds;
+     432             : 
+     433           0 :   poly_opt_.getSegmentTimes(&segment_times);
+     434           0 :   const size_t n_segments = segment_times.size();
+     435             : 
+     436             :   // compute initial solution
+     437           0 :   poly_opt_.solveLinear();
+     438           0 :   std::vector<Eigen::VectorXd> free_constraints;
+     439           0 :   poly_opt_.getFreeConstraints(&free_constraints);
+     440           0 :   if (free_constraints.size() == 0 || free_constraints.front().size() == 0) {
+     441           0 :     LOG(WARNING) << "No free derivative variables, same as time-only optimization.";
+     442             :   }
+     443             : 
+     444           0 :   const size_t n_optimization_variables = n_segments + free_constraints.size() * free_constraints.front().size();
+     445             : 
+     446           0 :   CHECK_GT(n_optimization_variables, 0u);
+     447             : 
+     448           0 :   initial_solution.reserve(n_optimization_variables);
+     449           0 :   initial_step.reserve(n_optimization_variables);
+     450           0 :   lower_bounds.reserve(n_optimization_variables);
+     451           0 :   upper_bounds.reserve(n_optimization_variables);
+     452             : 
+     453             :   // copy all constraints into one vector:
+     454           0 :   for (double t : segment_times) {
+     455           0 :     initial_solution.push_back(t);
+     456             :   }
+     457             : 
+     458           0 :   for (const Eigen::VectorXd& c : free_constraints) {
+     459           0 :     for (int i = 0; i < c.size(); ++i) {
+     460           0 :       initial_solution.push_back(c[i]);
+     461             :     }
+     462             :   }
+     463             : 
+     464             :   // Setup for getting bounds on the free endpoint derivatives
+     465           0 :   std::vector<double> lower_bounds_free, upper_bounds_free;
+     466           0 :   const size_t        n_optimization_variables_free = free_constraints.size() * free_constraints.front().size();
+     467           0 :   lower_bounds_free.reserve(n_optimization_variables_free);
+     468           0 :   upper_bounds_free.reserve(n_optimization_variables_free);
+     469             : 
+     470             :   // Get the lower and upper bounds constraints on the free endpoint
+     471             :   // derivatives
+     472           0 :   Vertex::Vector vertices;
+     473           0 :   poly_opt_.getVertices(&vertices);
+     474           0 :   setFreeEndpointDerivativeHardConstraints(vertices, &lower_bounds_free, &upper_bounds_free);
+     475             : 
+     476             :   // Set segment time constraints
+     477           0 :   for (size_t l = 0; l < n_segments; ++l) {
+     478           0 :     lower_bounds.push_back(kOptimizationTimeLowerBound);
+     479           0 :     upper_bounds.push_back(std::numeric_limits<double>::max());
+     480             :   }
+     481             :   // Append free endpoint derivative constraints
+     482           0 :   lower_bounds.insert(std::end(lower_bounds), std::begin(lower_bounds_free), std::end(lower_bounds_free));
+     483           0 :   upper_bounds.insert(std::end(upper_bounds), std::begin(upper_bounds_free), std::end(upper_bounds_free));
+     484             : 
+     485           0 :   for (size_t i = 0; i < initial_solution.size(); i++) {
+     486           0 :     double       x     = initial_solution[i];
+     487           0 :     const double abs_x = std::abs(x);
+     488             :     // Initial step size cannot be 0.0 --> invalid arg
+     489           0 :     if (abs_x <= std::numeric_limits<double>::epsilon()) {
+     490           0 :       initial_step.push_back(1e-13);
+     491             :     } else {
+     492           0 :       initial_step.push_back(optimization_parameters_.initial_stepsize_rel * abs_x);
+     493             :     }
+     494             : 
+     495             :     // Check if initial solution isn't already out of bounds.
+     496           0 :     if (x < lower_bounds[i]) {
+     497           0 :       lower_bounds[i] = x;
+     498           0 :     } else if (x > upper_bounds[i]) {
+     499           0 :       upper_bounds[i] = x;
+     500             :     }
+     501             :   }
+     502             : 
+     503             :   // Make sure everything is the same size, otherwise NLOPT will have a bad
+     504             :   // time.
+     505           0 :   CHECK_EQ(lower_bounds.size(), upper_bounds.size());
+     506           0 :   CHECK_EQ(initial_solution.size(), lower_bounds.size());
+     507           0 :   CHECK_EQ(initial_solution.size(), initial_step.size());
+     508           0 :   CHECK_EQ(initial_solution.size(), n_optimization_variables);
+     509             : 
+     510             :   try {
+     511           0 :     nlopt_->set_initial_step(initial_step);
+     512           0 :     nlopt_->set_lower_bounds(lower_bounds);
+     513           0 :     nlopt_->set_upper_bounds(upper_bounds);
+     514           0 :     nlopt_->set_min_objective(&PolynomialOptimizationNonLinear<N>::objectiveFunctionTimeAndConstraints, this);
+     515             :   }
+     516           0 :   catch (std::exception& e) {
+     517           0 :     LOG(ERROR) << "error while setting up nlopt: " << e.what() << std::endl;
+     518             :     return nlopt::FAILURE;
+     519             :   }
+     520             : 
+     521           0 :   double final_cost = std::numeric_limits<double>::max();
+     522             :   int    result;
+     523             : 
+     524             :   try {
+     525           0 :     timing::Timer timer_solve("optimize_nonlinear_full_total_time");
+     526             : 
+     527           0 :     result = nlopt_->optimize(initial_solution, final_cost);
+     528           0 :     timer_solve.Stop();
+     529             :   }
+     530           0 :   catch (std::exception& e) {
+     531           0 :     LOG(ERROR) << "error while running nlopt: " << e.what() << std::endl;
+     532             :     return nlopt::FAILURE;
+     533             :   }
+     534             : 
+     535           0 :   return result;
+     536             : }
+     537             : 
+     538             : template <int _N>
+     539          12 : bool PolynomialOptimizationNonLinear<_N>::addMaximumMagnitudeConstraint(int dimension, int derivative, double maximum_value) {
+     540             : 
+     541          12 :   CHECK_GE(derivative, 0);
+     542          12 :   CHECK_GE(maximum_value, 0.0);
+     543             : 
+     544          24 :   std::shared_ptr<ConstraintData> constraint_data(new ConstraintData);
+     545          12 :   constraint_data->dimension   = dimension;
+     546          12 :   constraint_data->derivative  = derivative;
+     547          12 :   constraint_data->value       = maximum_value;
+     548          12 :   constraint_data->this_object = this;
+     549             : 
+     550             :   // Store the shared_ptrs such that their data will be destroyed later.
+     551          12 :   inequality_constraints_.push_back(constraint_data);
+     552             : 
+     553          12 :   if (!optimization_parameters_.use_soft_constraints) {
+     554             :     try {
+     555           0 :       nlopt_->add_inequality_constraint(&PolynomialOptimizationNonLinear<N>::evaluateMaximumMagnitudeConstraint, constraint_data.get(),
+     556             :                                         optimization_parameters_.inequality_constraint_tolerance);
+     557             :     }
+     558           0 :     catch (std::exception& e) {
+     559           0 :       LOG(ERROR) << "ERROR while setting inequality constraint " << e.what() << std::endl;
+     560             :       return false;
+     561             :     }
+     562             :   }
+     563             : 
+     564             :   return true;
+     565             : }
+     566             : 
+     567             : template <int _N>
+     568           0 : double PolynomialOptimizationNonLinear<_N>::objectiveFunctionTime(const std::vector<double>& segment_times, std::vector<double>& gradient, void* data) {
+     569           0 :   CHECK(gradient.empty()) << "computing gradient not possible, choose a gradient free method";
+     570           0 :   CHECK_NOTNULL(data);
+     571             : 
+     572           0 :   PolynomialOptimizationNonLinear<N>* optimization_data = static_cast<PolynomialOptimizationNonLinear<N>*>(data);  // wheee ...
+     573             : 
+     574           0 :   CHECK_EQ(segment_times.size(), optimization_data->poly_opt_.getNumberSegments());
+     575             : 
+     576           0 :   optimization_data->poly_opt_.updateSegmentTimes(segment_times);
+     577           0 :   optimization_data->poly_opt_.solveLinear();
+     578           0 :   double       cost_trajectory  = optimization_data->poly_opt_.computeCost();
+     579           0 :   double       cost_time        = 0;
+     580           0 :   double       cost_constraints = 0;
+     581           0 :   const double total_time       = computeTotalTrajectoryTime(segment_times);
+     582             : 
+     583           0 :   switch (optimization_data->optimization_parameters_.time_alloc_method) {
+     584           0 :     case NonlinearOptimizationParameters::kRichterTime:
+     585           0 :       cost_time = total_time * optimization_data->optimization_parameters_.time_penalty;
+     586           0 :       break;
+     587           0 :     default:  // kSquaredTime
+     588           0 :       cost_time = total_time * total_time * optimization_data->optimization_parameters_.time_penalty;
+     589           0 :       break;
+     590             :   }
+     591             : 
+     592           0 :   if (optimization_data->optimization_parameters_.print_debug_info) {
+     593           0 :     std::cout << "---- cost at iteration " << optimization_data->optimization_info_.n_iterations << "---- " << std::endl;
+     594           0 :     std::cout << "  trajectory: " << cost_trajectory << std::endl;
+     595           0 :     std::cout << "  time: " << cost_time << std::endl;
+     596             :   }
+     597             : 
+     598           0 :   if (optimization_data->optimization_parameters_.use_soft_constraints) {
+     599           0 :     cost_constraints = optimization_data->evaluateMaximumMagnitudeAsSoftConstraint(optimization_data->inequality_constraints_,
+     600             :                                                                                    optimization_data->optimization_parameters_.soft_constraint_weight);
+     601             :   }
+     602             : 
+     603           0 :   if (optimization_data->optimization_parameters_.print_debug_info) {
+     604           0 :     std::cout << "  sum: " << cost_trajectory + cost_time + cost_constraints << std::endl;
+     605           0 :     std::cout << "  total time: " << total_time << std::endl;
+     606             :   }
+     607             : 
+     608           0 :   optimization_data->optimization_info_.n_iterations++;
+     609           0 :   optimization_data->optimization_info_.cost_trajectory       = cost_trajectory;
+     610           0 :   optimization_data->optimization_info_.cost_time             = cost_time;
+     611           0 :   optimization_data->optimization_info_.cost_soft_constraints = cost_constraints;
+     612             : 
+     613           0 :   return cost_trajectory + cost_time + cost_constraints;
+     614             : }
+     615             : 
+     616             : template <int _N>
+     617           1 : double PolynomialOptimizationNonLinear<_N>::objectiveFunctionTimeMellingerOuterLoop(const std::vector<double>& segment_times, std::vector<double>& gradient,
+     618             :                                                                                     void* data) {
+     619           1 :   CHECK(!gradient.empty()) << "only with gradients possible, choose a gradient based method";
+     620           1 :   CHECK_NOTNULL(data);
+     621             : 
+     622           1 :   PolynomialOptimizationNonLinear<N>* optimization_data = static_cast<PolynomialOptimizationNonLinear<N>*>(data);  // wheee ...
+     623             : 
+     624           1 :   CHECK_EQ(segment_times.size(), optimization_data->poly_opt_.getNumberSegments());
+     625             : 
+     626           1 :   optimization_data->poly_opt_.updateSegmentTimes(segment_times);
+     627           1 :   optimization_data->poly_opt_.solveLinear();
+     628             :   double cost_trajectory;
+     629           1 :   if (!gradient.empty()) {
+     630           1 :     cost_trajectory = optimization_data->getCostAndGradientMellinger(&gradient);
+     631             :   } else {
+     632           0 :     cost_trajectory = optimization_data->getCostAndGradientMellinger(NULL);
+     633             :   }
+     634             : 
+     635           1 :   if (optimization_data->optimization_parameters_.print_debug_info) {
+     636           0 :     std::cout << "---- cost at iteration " << optimization_data->optimization_info_.n_iterations << "---- " << std::endl;
+     637           0 :     std::cout << "  segment times: ";
+     638           0 :     for (double segment_time : segment_times) {
+     639           0 :       std::cout << segment_time << " ";
+     640             :     }
+     641           0 :     std::cout << std::endl;
+     642           0 :     std::cout << "  sum: " << cost_trajectory << std::endl;
+     643             :   }
+     644             : 
+     645           1 :   optimization_data->optimization_info_.n_iterations++;
+     646           1 :   optimization_data->optimization_info_.cost_trajectory = cost_trajectory;
+     647             : 
+     648           1 :   return cost_trajectory;
+     649             : }
+     650             : 
+     651             : template <int _N>
+     652           0 : double PolynomialOptimizationNonLinear<_N>::objectiveFunctionTimeAndConstraints(const std::vector<double>& x, std::vector<double>& gradient, void* data) {
+     653           0 :   CHECK(gradient.empty()) << "computing gradient not possible, choose a gradient-free method";
+     654           0 :   CHECK_NOTNULL(data);
+     655             : 
+     656           0 :   PolynomialOptimizationNonLinear<N>* optimization_data = static_cast<PolynomialOptimizationNonLinear<N>*>(data);  // wheee ...
+     657             : 
+     658           0 :   const size_t n_segments         = optimization_data->poly_opt_.getNumberSegments();
+     659           0 :   const size_t n_free_constraints = optimization_data->poly_opt_.getNumberFreeConstraints();
+     660           0 :   const size_t dim                = optimization_data->poly_opt_.getDimension();
+     661             : 
+     662           0 :   CHECK_EQ(x.size(), n_segments + n_free_constraints * dim);
+     663             : 
+     664           0 :   std::vector<Eigen::VectorXd> free_constraints;
+     665           0 :   free_constraints.resize(dim);
+     666           0 :   std::vector<double> segment_times;
+     667           0 :   segment_times.reserve(n_segments);
+     668             : 
+     669           0 :   for (size_t i = 0; i < n_segments; ++i) {
+     670           0 :     segment_times.push_back(x[i]);
+     671             :   }
+     672             : 
+     673           0 :   for (size_t d = 0; d < dim; ++d) {
+     674           0 :     const size_t idx_start = n_segments + d * n_free_constraints;
+     675             : 
+     676           0 :     Eigen::VectorXd& free_constraints_dim = free_constraints[d];
+     677           0 :     free_constraints_dim.resize(n_free_constraints, Eigen::NoChange);
+     678           0 :     for (size_t i = 0; i < n_free_constraints; ++i) {
+     679           0 :       free_constraints_dim[i] = x[idx_start + i];
+     680             :     }
+     681             :   }
+     682             : 
+     683           0 :   optimization_data->poly_opt_.updateSegmentTimes(segment_times);
+     684           0 :   optimization_data->poly_opt_.setFreeConstraints(free_constraints);
+     685             : 
+     686           0 :   double cost_trajectory  = optimization_data->poly_opt_.computeCost();
+     687           0 :   double cost_time        = 0;
+     688           0 :   double cost_constraints = 0;
+     689             : 
+     690           0 :   const double total_time = computeTotalTrajectoryTime(segment_times);
+     691           0 :   switch (optimization_data->optimization_parameters_.time_alloc_method) {
+     692           0 :     case NonlinearOptimizationParameters::kRichterTimeAndConstraints:
+     693           0 :       cost_time = total_time * optimization_data->optimization_parameters_.time_penalty;
+     694           0 :       break;
+     695           0 :     default:  // kSquaredTimeAndConstraints
+     696           0 :       cost_time = total_time * total_time * optimization_data->optimization_parameters_.time_penalty;
+     697           0 :       break;
+     698             :   }
+     699             : 
+     700           0 :   if (optimization_data->optimization_parameters_.print_debug_info) {
+     701           0 :     std::cout << "---- cost at iteration " << optimization_data->optimization_info_.n_iterations << "---- " << std::endl;
+     702           0 :     std::cout << "  trajectory: " << cost_trajectory << std::endl;
+     703           0 :     std::cout << "  time: " << cost_time << std::endl;
+     704             :   }
+     705             : 
+     706           0 :   if (optimization_data->optimization_parameters_.use_soft_constraints) {
+     707           0 :     cost_constraints = optimization_data->evaluateMaximumMagnitudeAsSoftConstraint(optimization_data->inequality_constraints_,
+     708             :                                                                                    optimization_data->optimization_parameters_.soft_constraint_weight);
+     709             :   }
+     710             : 
+     711           0 :   if (optimization_data->optimization_parameters_.print_debug_info) {
+     712           0 :     std::cout << "  sum: " << cost_trajectory + cost_time + cost_constraints << std::endl;
+     713           0 :     std::cout << "  total time: " << total_time << std::endl;
+     714             :   }
+     715             : 
+     716           0 :   optimization_data->optimization_info_.n_iterations++;
+     717           0 :   optimization_data->optimization_info_.cost_trajectory       = cost_trajectory;
+     718           0 :   optimization_data->optimization_info_.cost_time             = cost_time;
+     719           0 :   optimization_data->optimization_info_.cost_soft_constraints = cost_constraints;
+     720             : 
+     721           0 :   return cost_trajectory + cost_time + cost_constraints;
+     722             : }
+     723             : 
+     724             : template <int _N>
+     725           0 : double PolynomialOptimizationNonLinear<_N>::evaluateMaximumMagnitudeConstraint([[maybe_unused]] const std::vector<double>& segment_times,
+     726             :                                                                                std::vector<double>& gradient, void* data) {
+     727           0 :   CHECK(gradient.empty()) << "computing gradient not possible, choose a gradient-free method";
+     728           0 :   ConstraintData*                     constraint_data   = static_cast<ConstraintData*>(data);  // wheee ...
+     729           0 :   PolynomialOptimizationNonLinear<N>* optimization_data = constraint_data->this_object;
+     730             : 
+     731           0 :   Extremum max;
+     732           0 :   max = optimization_data->poly_opt_.computeMaximumOfMagnitude(constraint_data->derivative, nullptr);
+     733             : 
+     734           0 :   optimization_data->optimization_info_.maxima[constraint_data->derivative] = max;
+     735             : 
+     736           0 :   return max.value - constraint_data->value;
+     737             : }
+     738             : 
+     739             : template <int _N>
+     740           0 : double PolynomialOptimizationNonLinear<_N>::evaluateMaximumMagnitudeAsSoftConstraint(
+     741             :     [[maybe_unused]] const std::vector<std::shared_ptr<ConstraintData>>& inequality_constraints, double weight, double maximum_cost) const {
+     742           0 :   std::vector<double> dummy;
+     743           0 :   double              cost = 0;
+     744             : 
+     745           0 :   if (optimization_parameters_.print_debug_info)
+     746           0 :     std::cout << "  soft_constraints: " << std::endl;
+     747             : 
+     748           0 :   for (std::shared_ptr<const ConstraintData> constraint : inequality_constraints_) {
+     749             :     // need to call the c-style callback function here, thus the ugly cast to
+     750             :     // void*.
+     751           0 :     double abs_violation = evaluateMaximumMagnitudeConstraint(dummy, dummy, (void*)constraint.get());
+     752             : 
+     753           0 :     double       relative_violation = abs_violation / constraint->value;
+     754           0 :     const double current_cost       = std::min(maximum_cost, exp(relative_violation * weight));
+     755           0 :     cost += current_cost;
+     756           0 :     if (optimization_parameters_.print_debug_info) {
+     757           0 :       std::cout << "    derivative " << constraint->derivative << " abs violation: " << abs_violation << " : relative violation: " << relative_violation
+     758           0 :                 << " cost: " << current_cost << std::endl;
+     759             :     }
+     760             :   }
+     761           0 :   return cost;
+     762             : }
+     763             : 
+     764             : template <int _N>
+     765           0 : void PolynomialOptimizationNonLinear<_N>::setFreeEndpointDerivativeHardConstraints(const Vertex::Vector& vertices, std::vector<double>* lower_bounds,
+     766             :                                                                                    std::vector<double>* upper_bounds) {
+     767           0 :   CHECK_NOTNULL(lower_bounds);
+     768           0 :   CHECK_NOTNULL(upper_bounds);
+     769           0 :   CHECK(lower_bounds->empty()) << "Lower bounds not empty!";
+     770           0 :   CHECK(upper_bounds->empty()) << "Upper bounds not empty!";
+     771             : 
+     772           0 :   const size_t n_free_constraints     = poly_opt_.getNumberFreeConstraints();
+     773           0 :   const size_t dim                    = poly_opt_.getDimension();
+     774           0 :   const int    derivative_to_optimize = poly_opt_.getDerivativeToOptimize();
+     775             : 
+     776             :   // Set all values to -inf/inf and reset only bounded opti param with values
+     777           0 :   lower_bounds->resize(dim * n_free_constraints, std::numeric_limits<double>::lowest());
+     778           0 :   upper_bounds->resize(dim * n_free_constraints, std::numeric_limits<double>::max());
+     779             : 
+     780             :   // Add higher order derivative constraints (v_max and a_max)
+     781             :   // Check at each vertex which of the derivatives is a free derivative.
+     782             :   // If it is a free derivative check if we have a constraint in
+     783             :   // inequality_constraints_ and set the constraint as hard constraint in
+     784             :   // lower_bounds and upper_bounds
+     785           0 :   for (const auto& constraint_data : inequality_constraints_) {
+     786           0 :     unsigned int free_deriv_counter = 0;
+     787           0 :     const int    derivative_hc      = constraint_data->derivative;
+     788           0 :     const int    dimension          = constraint_data->dimension;
+     789           0 :     const double value_hc           = constraint_data->value;
+     790             : 
+     791           0 :     for (size_t v = 0; v < vertices.size(); ++v) {
+     792           0 :       for (int deriv = 0; deriv <= derivative_to_optimize; ++deriv) {
+     793           0 :         if (!vertices[v].hasConstraint(deriv)) {
+     794           0 :           if (deriv == derivative_hc) {
+     795           0 :             unsigned int start_idx                           = dimension * n_free_constraints;
+     796           0 :             lower_bounds->at(start_idx + free_deriv_counter) = -std::abs(value_hc);
+     797           0 :             upper_bounds->at(start_idx + free_deriv_counter) = std::abs(value_hc);
+     798             :           }
+     799           0 :           free_deriv_counter++;
+     800             :         }
+     801             :       }
+     802             :     }
+     803             :   }
+     804           0 : }
+     805             : 
+     806             : template <int _N>
+     807           0 : double PolynomialOptimizationNonLinear<_N>::computeTotalTrajectoryTime(const std::vector<double>& segment_times) {
+     808           0 :   double total_time = 0;
+     809           0 :   for (double t : segment_times)
+     810           0 :     total_time += t;
+     811             :   return total_time;
+     812             : }
+     813             : 
+     814             : }  // namespace eth_trajectory_generation
+     815             : 
+     816             : namespace nlopt
+     817             : {
+     818             : 
+     819             : inline std::string returnValueToString(int return_value) {
+     820             :   switch (return_value) {
+     821             :     case nlopt::SUCCESS:
+     822             :       return std::string("SUCCESS");
+     823             :     case nlopt::FAILURE:
+     824             :       return std::string("FAILURE");
+     825             :     case nlopt::INVALID_ARGS:
+     826             :       return std::string("INVALID_ARGS");
+     827             :     case nlopt::OUT_OF_MEMORY:
+     828             :       return std::string("OUT_OF_MEMORY");
+     829             :     case nlopt::ROUNDOFF_LIMITED:
+     830             :       return std::string("ROUNDOFF_LIMITED");
+     831             :     case nlopt::FORCED_STOP:
+     832             :       return std::string("FORCED_STOP");
+     833             :     case nlopt::STOPVAL_REACHED:
+     834             :       return std::string("STOPVAL_REACHED");
+     835             :     case nlopt::FTOL_REACHED:
+     836             :       return std::string("FTOL_REACHED");
+     837             :     case nlopt::XTOL_REACHED:
+     838             :       return std::string("XTOL_REACHED");
+     839             :     case nlopt::MAXEVAL_REACHED:
+     840             :       return std::string("MAXEVAL_REACHED");
+     841             :     case nlopt::MAXTIME_REACHED:
+     842             :       return std::string("MAXTIME_REACHED");
+     843             :     default:
+     844             :       return std::string("ERROR CODE UNKNOWN");
+     845             :   }
+     846             : }
+     847             : }  // namespace nlopt
+     848             : 
+     849             : #endif  // ETH_TRAJECTORY_GENERATION_IMPL_POLYNOMIAL_OPTIMIZATION_NONLINEAR_IMPL_H_
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h.gcov.png b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..8343ad4c41e2270168d8b07402f3d31a991f3022 GIT binary patch literal 3492 zcmV;V4O{YwP)1 zRCt{2T@8ZkC*`d4X^3z@e&_HGVfyT7eR&8LFN`J-PPG=u+^w9G@(S zoLKdkddjj0z!8c;&2#wwV0ekIKm#kQddAj>_$5lVu$EatA^0P==YlF?O^CJ4_+Mx~ zscJ#q1XMpcTY#%xu>(h{ZcAGN2WVR<_5_iEpR~eSDpDhMc~ehW7AjJ-+04_?gV$*O zGXQ2Zb%ErvAa4J7p~O=kDu7Y78OUg7;F8{3q^8Qi1+_?lxn>GX>?4q%I50_6R6Q@e z>iq|&P-z@I?FtH>p|6XIoPZuJhX-0{2LO!HCP~IYtLWlxvBx-+^?-jY<@M*!^mx43 z8)bPuVwqkKTbYcw$A~b`o*bccs?Op~kAvh>p!yu5NQ5D-VqJ9`n~tg#ab8Ttd)2Dk zCxHi(4IfT;JV;W;^r{b_K|R~{-pkf4J1`)jc%Pr0BOfH7g`)3+0?=GgIhxkddgRXq zJ^m|!4BQ017)4{*DM~%?S$Ud?*hI52r_Ev!2k@awQ}AdP=CFspm$W-lb1^&8M)zNq z0?B7Q8pUr8al&X7jgf1Z7%uVnaudGNCkRy9+S-HQsudG_34?1ctQHnv`QENk&)rMq|)ykL>_751Q+o1OIbFpEZv-3;079 zr5`RyDQy5odj#`43{yAUWV6xNB-5;H9U>oS(G7~W-jx=)uP9Pu$}&BS^O+HY{Mr!L zSlTnQXakvgIuxPU_4uC}xo}DPs(lL&4DBzU;k}peF;lqJ9<633ug#tUkAI~J>B!}i zb2xzROMkY*T&AFhU;F<;JTLEiQ2)t#p z>E9lcD)&Cg#zC>O@B{W0bYZw)3^|*m>N7c$yfK|fgq>7vhX{um#Qq}0XFJoWg3?L!HGWS^nXw?nQ6ks`~Q|XV~8JjTX@-Xfq->_oe z$edOSn&apyM)yNuK;u|w-`+2$3OdkOb?P*%&tQ%*^%j)Ja@6Oc&!nE?Mf!Z7G|2NF z*s5@8(c|i{P+C;D@W;d2(8qt3FcZvMAqzSDtJ|6?5*J*u9&uroTHK|{R9daYuT4ym zIXioq4p@(gKe1xE)-z7U2lo7!`R59e}>w3wjja<=%&F!FOor zo(12WGg4!MwqzP90yn3DxJ41#IsX&`wXxnK8MDY!Uy6jzb%Lz(Ueyy%_?%}Y26QC) zlNms+S)iy_$Az)s>?OBMQf2f%wLHa?R3W#eKEpdqZO73bg@ukUynsEHGAebRrhwpJ zNg&{+u1PD8%YZtM7C}Im>_`{-un68v84Sy+5$J<=N%$h2<`j?ZwE$6%Ywa5j#H5Cr zI-k)1`(ATbN51nRkEZ|AY(fymWE1yn@6W`n_1>D6DF%Q4)n$rdmGT@7ur;#qb9vNL zZe=oDu%pe5Pw?1VbkcOZWBa4Yt0X3f%YO>m3d8?m)P?9`c=?*RXzB5DaGd*9&HM*YTjQ6OZ-!MY_WJwj~`ML z^w_8Pbv=@9AXh!C$4@ENdNfcp>CrwA->}DS+-$N4l7z{#ZCH_!RaIVUbo2Jo43=)Y zczoZ7pa$D4$-5~qn^(4UhQc^Zm_-z2pK)}AK{l)Y6)TN~;&})Ei zV(udzcjV+}RlV5Oe+4L%-*dxFb$}3|B|xs^X(juy=BsI1E1e3fOL$o=eU^nWgYRhvxGXH5FVD ze@u+FfzpyRDiFt4c@p9|@c5>-s3|F`s~;YU-!`S{(I)KKncLEwLIFy*x`}~kRua&{ zV;~3tdBd@4TD6pwJW%xwQP+;TJ-MRp4M%NZCqXz&nt@yTKGwkZ#uyM#()QUmq)u{^ z>9uY-Nop&PH_UNIn{cB|mxAbI*ySyg8%MYg;Ep{cRSZV414MCp+b(Eu9oOs$MQdAA zZ{}S7Kh>ClUtN7z&uQ9cq;zuq3NwE=*hy|pd{SVC;;E|RBskB8KNqH2#_d>m29mk}Dd3D# z1(;N5x4+n9&EvO8@KK@q;++?bcg(yAq;Z9F_Y61t%r~z>?azgiJ<>k(A6Rp-MTN4e zcvtBrnrF#Cs6z#gOI=Rt;e0Ou$0=sAN9h3@A(D(yXvq{CK)Wz!_peooH>H~ZkNS=& z-SW+gIMU+erdT77WKof+5S!H1Q?@9%KU~`BuC!jn_B@``6mpQhwx{`Fh=i8mmLYAT z22vRCc-7b)W)xf7$S3`y7I7)7)=DpyLWRCRmcnYQ)KgXc8%z0(rCeNoV<`ggHY^FXW13t{7(+YxP-kEN$g6p;nqY_Pt zkw?Rj6gpzK#jYKSKtw@cUN@K9cA1wrEd(N+s^vCx6%gAnZQrv=&ynbvyjdziHwdaH zG&d|$Qp5Bqe$@e(`u}-HdOZ*lHBt+o0uBhn14ClO#}i=wvgZ&=(QicS(nvPKBc6bO z-#U#q2Vo9x^dw9@Y;DiW0C0@Q{HuT=y=i5?{5n`}O6CSMra~>nuM!WxWqZjP%jvGR zbaCp+DUvgsnk8#D_EOQ3=9duuHc&EQ3V%oK&0AnSwo>}!TnUxv&bVm+aTw2C1Hrt*~fXVPk^~v zCp-=U4UT*&2)5@vSKowqHO@S88FAayQ`dAD2xek!9*d)m4PhefHa)h|>;SJ%$6Io` zD3;G^0XN&P`lD);s&T|1t~~ybk==y*Ow3$+2Yx5Tp56NU!p1hsc$7gz^sz^1RRi Sc_qRC0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12018564.9 %
Date:2023-12-06 10:06:33Functions:101376.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
timing.h +
0.0%
+ 		0.0 %0 / 320.0 %0 / 2
trajectory.h +
58.5%58.5%
+ 		58.5 %24 / 4166.7 %2 / 3
<unnamed>58.5 %24 / 4166.7 %2 / 3
polynomial_optimization_nonlinear.h +
100.0%
+ 		100.0 %7 / 7-0 / 0
<unnamed>100.0 %7 / 7-0 / 0
vertex.h +
75.0%75.0%
+ 		75.0 %6 / 8-0 / 0
<unnamed>75.0 %6 / 8-0 / 0
extremum.h +
100.0%
+ 		100.0 %6 / 6-0 / 0
<unnamed>100.0 %6 / 6-0 / 0
polynomial_optimization_linear.h +
65.5%65.5%
+ 		65.5 %19 / 29100.0 %1 / 1
<unnamed>65.5 %19 / 29100.0 %1 / 1
segment.h +
100.0%
+ 		100.0 %13 / 13100.0 %1 / 1
<unnamed>100.0 %13 / 13100.0 %1 / 1
polynomial.h +
91.8%91.8%
+ 		91.8 %45 / 49100.0 %6 / 6
<unnamed>91.8 %45 / 49100.0 %6 / 6
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12018564.9 %
Date:2023-12-06 10:06:33Functions:101376.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
timing.h +
0.0%
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trajectory.h +
58.5%58.5%
+ 		58.5 %24 / 4166.7 %2 / 3
<unnamed>58.5 %24 / 4166.7 %2 / 3
polynomial_optimization_linear.h +
65.5%65.5%
+ 		65.5 %19 / 29100.0 %1 / 1
<unnamed>65.5 %19 / 29100.0 %1 / 1
vertex.h +
75.0%75.0%
+ 		75.0 %6 / 8-0 / 0
<unnamed>75.0 %6 / 8-0 / 0
polynomial.h +
91.8%91.8%
+ 		91.8 %45 / 49100.0 %6 / 6
<unnamed>91.8 %45 / 49100.0 %6 / 6
extremum.h +
100.0%
+ 		100.0 %6 / 6-0 / 0
<unnamed>100.0 %6 / 6-0 / 0
polynomial_optimization_nonlinear.h +
100.0%
+ 		100.0 %7 / 7-0 / 0
<unnamed>100.0 %7 / 7-0 / 0
segment.h +
100.0%
+ 		100.0 %13 / 13100.0 %1 / 1
<unnamed>100.0 %13 / 13100.0 %1 / 1
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index-detail.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index-detail.html new file mode 100644 index 0000000000..e316a4ba29 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/index-detail.html @@ -0,0 +1,228 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12018564.9 %
Date:2023-12-06 10:06:33Functions:101376.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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extremum.h +
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Test:MRS UAV System - Test coverage reportLines:12018564.9 %
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eth_trajectory_generation::Polynomial::Polynomial(int)1
eth_trajectory_generation::Polynomial::Polynomial(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)8
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double)30
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double, Eigen::Matrix<double, -1, 1, 0, -1, 1>*)30
eth_trajectory_generation::Polynomial::getCoefficients(int) const46
eth_trajectory_generation::Polynomial::evaluate(double, int) const930
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eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double)30
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double, Eigen::Matrix<double, -1, 1, 0, -1, 1>*)30
eth_trajectory_generation::Polynomial::Polynomial(int)1
eth_trajectory_generation::Polynomial::Polynomial(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)8
eth_trajectory_generation::Polynomial::getCoefficients(int) const46
eth_trajectory_generation::Polynomial::evaluate(double, int) const930
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - polynomial.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:454991.8 %
Date:2023-12-06 10:06:33Functions:66100.0 %
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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          75 : class Polynomial {
+      39             : public:
+      40             :   typedef std::vector<Polynomial> Vector;
+      41             : 
+      42             :   // Maximum degree of a polynomial for which the static derivative (basis
+      43             :   // coefficient) matrix should be evaluated for.
+      44             :   // kMaxN = max. number of coefficients.
+      45             :   static constexpr int kMaxN = 12;
+      46             :   // kMaxConvolutionSize = max. convolution size for N = 12, convolved with its
+      47             :   // derivative.
+      48             :   static constexpr int kMaxConvolutionSize = 2 * kMaxN - 2;
+      49             :   // One static shared across all members of the class, computed up to order
+      50             :   // kMaxConvolutionSize.
+      51             :   static Eigen::MatrixXd base_coefficients_;
+      52             : 
+      53           1 :   Polynomial(int N) : N_(N), coefficients_(N) {
+      54           1 :     coefficients_.setZero();
+      55           1 :   }
+      56             : 
+      57             :   // Assigns arbitrary coefficients to a polynomial.
+      58           8 :   Polynomial(int N, const Eigen::VectorXd& coeffs) : N_(N), coefficients_(coeffs) {
+      59           8 :     CHECK_EQ(N_, coeffs.size()) << "Number of coefficients has to match.";
+      60           8 :   }
+      61             : 
+      62          12 :   Polynomial(const Eigen::VectorXd& coeffs) : N_(coeffs.size()), coefficients_(coeffs) {
+      63           6 :   }
+      64             :   /// Gets the number of coefficients (order + 1) of the polynomial.
+      65             :   int N() const {
+      66             :     return N_;
+      67             :   }
+      68             : 
+      69           0 :   inline bool operator==(const Polynomial& rhs) const {
+      70           0 :     return coefficients_ == rhs.coefficients_;
+      71             :   }
+      72           0 :   inline bool operator!=(const Polynomial& rhs) const {
+      73           0 :     return !operator==(rhs);
+      74             :   }
+      75             :   inline Polynomial operator+(const Polynomial& rhs) const {
+      76             :     return Polynomial(coefficients_ + rhs.coefficients_);
+      77             :   }
+      78             :   inline Polynomial& operator+=(const Polynomial& rhs) {
+      79             :     this->coefficients_ += rhs.coefficients_;
+      80             :     return *this;
+      81             :   }
+      82             :   // The product of two polynomials is the convolution of their coefficients.
+      83             :   inline Polynomial operator*(const Polynomial& rhs) const {
+      84             :     return Polynomial(convolve(coefficients_, rhs.coefficients_));
+      85             :   }
+      86             :   // The product of a polynomial with a scalar. Note that polynomials are in
+      87             :   // general not homogeneous, i.e., f(a*t) != a*f(t)
+      88             :   inline Polynomial operator*(const double& rhs) const {
+      89             :     return Polynomial(coefficients_ * rhs);
+      90             :   }
+      91             : 
+      92             :   // Sets up the internal representation from coefficients.
+      93             :   // Coefficients are stored in increasing order with the power of t,
+      94             :   // i.e. c1 + c2*t + c3*t^2 ==> coeffs = [c1 c2 c3]
+      95             :   /* setCoefficients() //{ */
+      96             : 
+      97             :   void setCoefficients(const Eigen::VectorXd& coeffs) {
+      98             :     CHECK_EQ(N_, coeffs.size()) << "Number of coefficients has to match.";
+      99             :     coefficients_ = coeffs;
+     100             :   }
+     101             : 
+     102             :   //}
+     103             : 
+     104             :   // Returns the coefficients for the specified derivative of the
+     105             :   // polynomial as a ROW vector.
+     106             :   /* getCoefficients() //{ */
+     107             : 
+     108          46 :   Eigen::VectorXd getCoefficients(int derivative = 0) const {
+     109          46 :     CHECK_LE(derivative, N_);
+     110          46 :     if (derivative == 0) {
+     111          56 :       return coefficients_;
+     112             :     } else {
+     113          72 :       Eigen::VectorXd result(N_);
+     114          36 :       result.setZero();
+     115          36 :       result.head(N_ - derivative) =
+     116          36 :           coefficients_.tail(N_ - derivative).cwiseProduct(base_coefficients_.block(derivative, derivative, 1, N_ - derivative).transpose());
+     117          36 :       return result;
+     118             :     }
+     119             :   }
+     120             : 
+     121             :   //}
+     122             : 
+     123             :   // Evaluates the polynomial at time t and writes the result.
+     124             :   // Fills in all derivatives up to result.size()-1 (that is, if result is a
+     125             :   // 3-vector, then will fill in derivatives 0, 1, and 2).
+     126             :   /* evaluate() //{ */
+     127             : 
+     128             :   void evaluate(double t, Eigen::VectorXd* result) const {
+     129             :     CHECK_LE(result->size(), N_);
+     130             :     const int max_deg = result->size();
+     131             : 
+     132             :     const int tmp = N_ - 1;
+     133             :     for (int i = 0; i < max_deg; i++) {
+     134             :       Eigen::RowVectorXd row = base_coefficients_.block(i, 0, 1, N_);
+     135             :       double             acc = row[tmp] * coefficients_[tmp];
+     136             :       for (int j = tmp - 1; j >= i; --j) {
+     137             :         acc *= t;
+     138             :         acc += row[j] * coefficients_[j];
+     139             :       }
+     140             :       (*result)[i] = acc;
+     141             :     }
+     142             :   }
+     143             : 
+     144             :   //}
+     145             : 
+     146             :   // Evaluates the specified derivative of the polynomial at time t and returns
+     147             :   // the result (only one value).
+     148             :   /* evaluate() //{ */
+     149             : 
+     150         930 :   double evaluate(double t, int derivative) const {
+     151         930 :     if (derivative >= N_) {
+     152             :       return 0.0;
+     153             :     }
+     154         930 :     double             result;
+     155         930 :     const int          tmp = N_ - 1;
+     156         930 :     Eigen::RowVectorXd row = base_coefficients_.block(derivative, 0, 1, N_);
+     157         930 :     result                 = row[tmp] * coefficients_[tmp];
+     158        7420 :     for (int j = tmp - 1; j >= derivative; --j) {
+     159        6490 :       result *= t;
+     160        6490 :       result += row[j] * coefficients_[j];
+     161             :     }
+     162         930 :     return result;
+     163             :   }
+     164             : 
+     165             :   //}
+     166             : 
+     167             :   // Uses Jenkins-Traub to get all the roots of the polynomial at a certain
+     168             :   // derivative.
+     169             :   bool getRoots(int derivative, Eigen::VectorXcd* roots) const;
+     170             : 
+     171             :   // Finds all candidates for the minimum and maximum between t_start and t_end
+     172             :   // by evaluating the roots of the polynomial's derivative.
+     173             :   static bool selectMinMaxCandidatesFromRoots(double t_start, double t_end, const Eigen::VectorXcd& roots_derivative_of_derivative,
+     174             :                                               std::vector<double>* candidates);
+     175             : 
+     176             :   // Finds all candidates for the minimum and maximum between t_start and t_end
+     177             :   // by computing the roots of the derivative polynomial.
+     178             :   bool computeMinMaxCandidates(double t_start, double t_end, int derivative, std::vector<double>* candidates) const;
+     179             : 
+     180             :   // Evaluates the minimum and maximum of a polynomial between time t_start and
+     181             :   // t_end given the roots of the derivative.
+     182             :   // Returns the minimum and maximum as pair<t, value>.
+     183             :   bool selectMinMaxFromRoots(double t_start, double t_end, int derivative, const Eigen::VectorXcd& roots_derivative_of_derivative,
+     184             :                              std::pair<double, double>* minimum, std::pair<double, double>* maximum) const;
+     185             : 
+     186             :   // Computes the minimum and maximum of a polynomial between time t_start and
+     187             :   // t_end by computing the roots of the derivative polynomial.
+     188             :   // Returns the minimum and maximum as pair<t, value>.
+     189             :   bool computeMinMax(double t_start, double t_end, int derivative, std::pair<double, double>* minimum, std::pair<double, double>* maximum) const;
+     190             : 
+     191             :   // Selects the minimum and maximum of a polynomial among a candidate set.
+     192             :   // Returns the minimum and maximum as pair<t, value>.
+     193             :   bool selectMinMaxFromCandidates(const std::vector<double>& candidates, int derivative, std::pair<double, double>* minimum,
+     194             :                                   std::pair<double, double>* maximum) const;
+     195             : 
+     196             :   // Increase the number of coefficients of this polynomial up to the specified
+     197             :   // degree by appending zeros.
+     198             :   bool getPolynomialWithAppendedCoefficients(int new_N, Polynomial* new_polynomial) const;
+     199             : 
+     200             :   // Computes the base coefficients with the according powers of t, as
+     201             :   // e.g. needed for computation of (in)equality constraints.
+     202             :   // Output: coeffs = vector to write the coefficients to
+     203             :   // Input: polynomial derivative for which the coefficients have to
+     204             :   // be computed
+     205             :   // Input: t = time of evaluation
+     206             :   /* baseCoeffsWithTime() //{ */
+     207             : 
+     208          30 :   static void baseCoeffsWithTime(int N, int derivative, double t, Eigen::VectorXd* coeffs) {
+     209          30 :     CHECK_LT(derivative, N);
+     210          30 :     CHECK_GE(derivative, 0);
+     211             : 
+     212          30 :     coeffs->resize(N, 1);
+     213          30 :     coeffs->setZero();
+     214             :     // first coefficient doesn't get multiplied
+     215          30 :     (*coeffs)[derivative] = base_coefficients_(derivative, derivative);
+     216             : 
+     217          30 :     if (std::abs(t) < std::numeric_limits<double>::epsilon())
+     218             :       return;
+     219             : 
+     220          15 :     double t_power = t;
+     221             :     // now multiply increasing power of t towards the right
+     222         120 :     for (int j = derivative + 1; j < N; j++) {
+     223         105 :       (*coeffs)[j] = base_coefficients_(derivative, j) * t_power;
+     224         105 :       t_power      = t_power * t;
+     225             :     }
+     226             :   }
+     227             : 
+     228             :   //}
+     229             : 
+     230             :   // Convenience method to compute the base coefficents with time
+     231             :   // static void baseCoeffsWithTime(const Eigen::MatrixBase<Derived> &
+     232             :   // coeffs, int derivative, double t)
+     233          30 :   static Eigen::VectorXd baseCoeffsWithTime(int N, int derivative, double t) {
+     234          30 :     Eigen::VectorXd c(N);
+     235          30 :     baseCoeffsWithTime(N, derivative, t, &c);
+     236          30 :     return c;
+     237             :   }
+     238             : 
+     239             :   // Discrete convolution of two vectors.
+     240             :   // convolve(d, k)[m] = sum(d[m - n] * k[n])
+     241             :   static Eigen::VectorXd convolve(const Eigen::VectorXd& data, const Eigen::VectorXd& kernel);
+     242             : 
+     243          18 :   static inline int getConvolutionLength(int data_size, int kernel_size) {
+     244          18 :     return data_size + kernel_size - 1;
+     245             :   }
+     246             : 
+     247             :   // Scales the polynomial in time with a scaling factor.
+     248             :   // To stretch out by a factor of 10, pass scaling_factor (b) = 1/10. To shrink
+     249             :   // by a factor of 10, pass scalign factor = 10.
+     250             :   // p_out = a12*b^12*t^12 + a11*b^11*t^11... etc.
+     251             :   void scalePolynomialInTime(double scaling_factor);
+     252             : 
+     253             :   // Offset this polynomial.
+     254             :   void offsetPolynomial(const double offset);
+     255             : 
+     256             : private:
+     257             :   int             N_;
+     258             :   Eigen::VectorXd coefficients_;
+     259             : };
+     260             : 
+     261             : // Static functions to compute base coefficients.
+     262             : 
+     263             : // Computes the base coefficients of the derivatives of the polynomial,
+     264             : // up to order N.
+     265             : Eigen::MatrixXd computeBaseCoefficients(int N);
+     266             : 
+     267             : }  // namespace eth_trajectory_generation
+     268             : 
+     269             : #endif  // ETH_TRAJECTORY_GENERATION_POLYNOMIAL_H_
+
+
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          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           2 :   void getTrajectory(Trajectory* trajectory) const {
+     113           1 :     CHECK_NOTNULL(trajectory);
+     114           2 :     trajectory->setSegments(segments_);
+     115           1 :   }
+     116             : 
+     117             :   // Computes the candidates for the maximum magnitude of a single
+     118             :   // segment in the specified derivative.
+     119             :   // In the 1D case, it simply returns the roots of the derivative of the
+     120             :   // segment-polynomial.
+     121             :   // For higher dimensions, e.g. 3D, we need to find the extrema of
+     122             :   // \sqrt{x(t)^2 + y(t)^2 + z(t)^2}
+     123             :   // where x, y, z are polynomials describing the position or the derivative,
+     124             :   // specified by Derivative.
+     125             :   // Taking the derivative yields  2 x \dot{x} + 2 y \dot{y} + 2 z \dot{z},
+     126             :   // which needs to be zero at the extrema. The multiplication of two
+     127             :   // polynomials is a convolution of their coefficients. Re-ordering by their
+     128             :   // powers and addition yields a polynomial, for which we can compute the
+     129             :   // roots. Derivative = Derivative of position, in which to find the maxima.
+     130             :   // Input: segment = Segment to find the maximum.
+     131             :   // Input: t_start = Only maxima >= t_start are returned. Usually set to 0.
+     132             :   // Input: t_stop = Only maxima <= t_stop are returned. Usually set to
+     133             :   // segment time.
+     134             :   // Output: candidates = Vector containing the candidate times for a maximum.
+     135             :   // Returns whether the computation succeeded -- false means no candidates
+     136             :   // were found by Jenkins-Traub.
+     137             :   template <int Derivative>
+     138             :   static bool computeSegmentMaximumMagnitudeCandidates(const Segment& segment, double t_start, double t_stop, std::vector<double>* candidates);
+     139             : 
+     140             :   // Template-free version of above:
+     141             :   static bool computeSegmentMaximumMagnitudeCandidates(int derivative, const Segment& segment, double t_start, double t_stop, std::vector<double>* candidates);
+     142             : 
+     143             :   // Computes the candidates for the maximum magnitude of a single
+     144             :   // segment in the specified derivative.
+     145             :   // Computed by sampling and rather meant for debugging / testing.
+     146             :   // Derivative = Derivative of position, in which to find the maxima.
+     147             :   // Input: segment = Segment to find the maximum.
+     148             :   // Input: t_start = Start time of sampling. Usually set to 0.
+     149             :   // Input: t_stop = End time of sampling. Usually set to segment time.
+     150             :   // Input: sampling_interval = Time between two sampling points.
+     151             :   // Output: candidates = Vector containing the candidate times for a maximum.
+     152             :   template <int Derivative>
+     153             :   static void computeSegmentMaximumMagnitudeCandidatesBySampling(const Segment& segment, double t_start, double t_stop, double sampling_interval,
+     154             :                                                                  std::vector<double>* candidates);
+     155             : 
+     156             :   // Computes the global maximum of the magnitude of the path in the
+     157             :   // specified derivative.
+     158             :   // This uses computeSegmentMaximumMagnitudeCandidates to compute the
+     159             :   // candidates for each segment.
+     160             :   // Derivative = Derivative of position, in which to find the maxima.
+     161             :   // Output: candidates = Vector containing the candidate times for the global
+     162             :   // maximum, i.e. all local maxima.
+     163             :   //                        Optional, can be set to nullptr if not needed.
+     164             :   // Output: return = The global maximum of the path.
+     165             :   template <int Derivative>
+     166             :   Extremum computeMaximumOfMagnitude(std::vector<Extremum>* candidates) const;
+     167             : 
+     168             :   // Template-free version of above.
+     169             :   Extremum computeMaximumOfMagnitude(int derivative, std::vector<Extremum>* candidates) const;
+     170             : 
+     171           0 :   void getVertices(Vertex::Vector* vertices) const {
+     172           0 :     CHECK_NOTNULL(vertices);
+     173           0 :     *vertices = vertices_;
+     174           0 :   }
+     175             : 
+     176             :   // Only for internal use -- always use getTrajectory() instead if you can!
+     177           1 :   void getSegments(Segment::Vector* segments) const {
+     178           1 :     CHECK_NOTNULL(segments);
+     179           1 :     *segments = segments_;
+     180           1 :   }
+     181             : 
+     182           4 :   void getSegmentTimes(std::vector<double>* segment_times) const {
+     183             :     CHECK(segment_times != nullptr);
+     184           4 :     *segment_times = segment_times_;
+     185           4 :   }
+     186             : 
+     187           0 :   void getFreeConstraints(std::vector<Eigen::VectorXd>* free_constraints) const {
+     188             :     CHECK(free_constraints != nullptr);
+     189           0 :     *free_constraints = free_constraints_compact_;
+     190           0 :   }
+     191             : 
+     192             :   void setFreeConstraints(const std::vector<Eigen::VectorXd>& free_constraints);
+     193             : 
+     194             :   void getFixedConstraints(std::vector<Eigen::VectorXd>* fixed_constraints) const {
+     195             :     CHECK(fixed_constraints != nullptr);
+     196             :     *fixed_constraints = fixed_constraints_compact_;
+     197             :   }
+     198             : 
+     199             :   // Computes the Jacobian of the integral over the squared derivative
+     200             :   // Output: cost_jacobian = Jacobian matrix to write into.
+     201             :   // If C is dynamic, the correct size has to be set.
+     202             :   // Input: t = time of evaluation
+     203             :   // Input: derivative used to compute the cost
+     204             :   static void computeQuadraticCostJacobian(int derivative, double t, SquareMatrix* cost_jacobian);
+     205             : 
+     206           0 :   size_t getDimension() const {
+     207             :     return dimension_;
+     208             :   }
+     209           3 :   size_t getNumberSegments() const {
+     210             :     return n_segments_;
+     211             :   }
+     212             :   size_t getNumberAllConstraints() const {
+     213             :     return n_all_constraints_;
+     214             :   }
+     215             :   size_t getNumberFixedConstraints() const {
+     216             :     return n_fixed_constraints_;
+     217             :   }
+     218           0 :   size_t getNumberFreeConstraints() const {
+     219             :     return n_free_constraints_;
+     220             :   }
+     221           0 :   int getDerivativeToOptimize() const {
+     222             :     return derivative_to_optimize_;
+     223             :   }
+     224             : 
+     225             :   // Accessor functions for internal matrices.
+     226             :   void getAInverse(Eigen::MatrixXd* A_inv) const;
+     227             :   void getM(Eigen::MatrixXd* M) const;
+     228             :   void getR(Eigen::MatrixXd* R) const;
+     229             :   // Extras not directly used in the standard optimization:
+     230             :   void getA(Eigen::MatrixXd* A) const;
+     231             :   void getMpinv(Eigen::MatrixXd* M_pinv) const;  // Pseudo-inverse of M.
+     232             : 
+     233             :   void printReorderingMatrix(std::ostream& stream) const;
+     234             : 
+     235             : private:
+     236             :   // Constructs the sparse R (cost) matrix.
+     237             :   void constructR(Eigen::SparseMatrix<double>* R) const;
+     238             : 
+     239             :   // Sets up the matrix (C in [1]) that reorders constraints for the
+     240             :   // optimization problem.
+     241             :   // This matrix is the same for each dimension, i.e. each dimension must have
+     242             :   // the same fixed and free parameters.
+     243             :   void setupConstraintReorderingMatrix();
+     244             : 
+     245             :   // Updates the segments stored internally from the set of compact fixed
+     246             :   // and free constraints.
+     247             :   void updateSegmentsFromCompactConstraints();
+     248             : 
+     249             :   // Matrix consisting of entries with value 1 to reorder free and fixed
+     250             :   // constraints (C in [1]).
+     251             :   Eigen::SparseMatrix<double> constraint_reordering_;
+     252             : 
+     253             :   // Original vertices containing the constraints.
+     254             :   Vertex::Vector vertices_;
+     255             : 
+     256             :   // The actual segments containing the solution.
+     257             :   Segment::Vector segments_;
+     258             : 
+     259             :   // Vector that stores an inverted mapping matrix for each segment
+     260             :   // (A^-1 in [1]).
+     261             :   SquareMatrixVector inverse_mapping_matrices_;
+     262             : 
+     263             :   // Vector that stores the cost matrix for each segment (Q in [1]).
+     264             :   SquareMatrixVector cost_matrices_;
+     265             : 
+     266             :   // Contains the compact form of fixed constraints for each dimension
+     267             :   // (d_f in [1]).
+     268             :   std::vector<Eigen::VectorXd> fixed_constraints_compact_;
+     269             : 
+     270             :   // Contains the compact form of free constraints to optimize for each
+     271             :   // dimension (d_p in [1]).
+     272             :   std::vector<Eigen::VectorXd> free_constraints_compact_;
+     273             : 
+     274             :   std::vector<double> segment_times_;
+     275             : 
+     276             :   // Number of polynomials, e.g 3 for a 3D path.
+     277             :   size_t dimension_;
+     278             : 
+     279             :   int    derivative_to_optimize_;
+     280             :   size_t n_vertices_;
+     281             :   size_t n_segments_;
+     282             : 
+     283             :   size_t n_all_constraints_;
+     284             :   size_t n_fixed_constraints_;
+     285             :   size_t n_free_constraints_;
+     286             : };
+     287             : 
+     288             : // Constraint class that aggregates all constraints from incoming Vertices.
+     289          50 : struct Constraint
+     290             : {
+     291          34 :   inline bool operator<(const Constraint& rhs) const {
+     292          34 :     if (vertex_idx < rhs.vertex_idx)
+     293             :       return true;
+     294          32 :     if (rhs.vertex_idx < vertex_idx)
+     295             :       return false;
+     296             : 
+     297          21 :     if (constraint_idx < rhs.constraint_idx)
+     298             :       return true;
+     299             :     if (rhs.constraint_idx < constraint_idx)
+     300             :       return false;
+     301             :     return false;
+     302             :   }
+     303             : 
+     304         100 :   inline bool operator==(const Constraint& rhs) const {
+     305         100 :     return vertex_idx == rhs.vertex_idx && constraint_idx == rhs.constraint_idx;
+     306             :   }
+     307             : 
+     308             :   size_t                  vertex_idx;
+     309             :   size_t                  constraint_idx;
+     310             :   Vertex::ConstraintValue value;
+     311             : };
+     312             : 
+     313             : }  // namespace eth_trajectory_generation
+     314             : 
+     315             : #include "eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h"
+     316             : 
+     317             : #endif  // ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_LINEAR_H_
+
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_NONLINEAR_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_NONLINEAR_H_
+      23             : 
+      24             : #include <memory>
+      25             : #include <nlopt.hpp>
+      26             : 
+      27             : #include <eth_trajectory_generation/polynomial_optimization_linear.h>
+      28             : 
+      29             : namespace eth_trajectory_generation
+      30             : {
+      31             : 
+      32             : constexpr double kOptimizationTimeLowerBound = 0.01;
+      33             : 
+      34             : // Class holding all important parameters for nonlinear optimization.
+      35             : struct NonlinearOptimizationParameters
+      36             : {
+      37             :   // Default parameters should be reasonable enough to use without further
+      38             :   // fine-tuning.
+      39             : 
+      40             :   // Stopping criteria, if objective function changes less than absolute value.
+      41             :   // Disabled if negative.
+      42             :   double f_abs = -1;
+      43             : 
+      44             :   // Stopping criteria, if objective function changes less than relative value.
+      45             :   // Disabled if negative.
+      46             :   double f_rel = 0.05;
+      47             : 
+      48             :   // Stopping criteria, if state changes less than relative value.
+      49             :   // Disabled if negative.
+      50             :   double x_rel = -1;
+      51             : 
+      52             :   // Stopping criteria, if state changes less than absolute value.
+      53             :   // Disabled if negative.
+      54             :   double x_abs = -1;
+      55             : 
+      56             :   // Determines a fraction of the initial guess as initial step size.
+      57             :   // Heuristic value if negative.
+      58             :   double initial_stepsize_rel = 0.1;
+      59             : 
+      60             :   // Absolute tolerance, within an equality constraint is considered as met.
+      61             :   double equality_constraint_tolerance = 1.0e-3;
+      62             : 
+      63             :   // Absolute tolerance, within an inequality constraint is considered as met.
+      64             :   double inequality_constraint_tolerance = 0.1;
+      65             : 
+      66             :   // Maximum number of iterations. Disabled if negative.
+      67             :   int max_iterations = 3000;
+      68             : 
+      69             :   // max execution time in secs
+      70             :   double max_time = 1.0;
+      71             : 
+      72             :   // Penalty for the segment time.
+      73             :   double time_penalty = 500.0;
+      74             : 
+      75             :   // Optimization algorithm used by nlopt, see
+      76             :   // http://ab-initio.mit.edu/wiki/index.php/NLopt_Algorithms
+      77             :   // Previous value was nlopt::LN_SBPLX, but we found that BOBYQA has slightly
+      78             :   // better convergence and lower run-time in the unit tests.
+      79             :   nlopt::algorithm algorithm = nlopt::LN_BOBYQA;
+      80             : 
+      81             :   // Random seed, if an optimization algorithm involving random numbers
+      82             :   // is used (e.g. nlopt::GN_ISRES).
+      83             :   // If set to a value < 0, a "random" (getTimeofday) value for the seed
+      84             :   // is chosen.
+      85             :   int random_seed = 0;
+      86             : 
+      87             :   // Decide whether to use soft constraints.
+      88             :   bool use_soft_constraints = true;
+      89             : 
+      90             :   // Weights the relative violation of a soft constraint.
+      91             :   double soft_constraint_weight = 100.0;
+      92             : 
+      93             :   enum TimeAllocMethod
+      94             :   {
+      95             :     kSquaredTime               = 0,
+      96             :     kRichterTime               = 1,
+      97             :     kMellingerOuterLoop        = 2,
+      98             :     kSquaredTimeAndConstraints = 3,
+      99             :     kRichterTimeAndConstraints = 4,
+     100             :     kUnknown                   = 5,
+     101             :   } time_alloc_method = kSquaredTimeAndConstraints;
+     102             : 
+     103             :   bool print_debug_info                 = false;
+     104             :   bool print_debug_info_time_allocation = false;
+     105             : };
+     106             : 
+     107           4 : struct OptimizationInfo
+     108             : {
+     109             :   int                     n_iterations          = 0;
+     110             :   int                     stopping_reason       = nlopt::FAILURE;
+     111             :   double                  cost_trajectory       = 0.0;
+     112             :   double                  cost_time             = 0.0;
+     113             :   double                  cost_soft_constraints = 0.0;
+     114             :   double                  optimization_time     = 0.0;
+     115             :   std::map<int, Extremum> maxima;
+     116             : };
+     117             : 
+     118             : std::ostream& operator<<(std::ostream& stream, const OptimizationInfo& val);
+     119             : 
+     120             : // Implements a nonlinear optimization of the unconstrained optimization
+     121             : // of paths consisting of polynomial segments as described in [1]
+     122             : // [1]: Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense
+     123             : // Indoor Environments.
+     124             : // Charles Richter, Adam Bry, and Nicholas Roy. In ISRR 2013
+     125             : // _N specifies the number of coefficients for the underlying polynomials.
+     126             : template <int _N = 10>
+     127             : class PolynomialOptimizationNonLinear {
+     128             :   static_assert(_N % 2 == 0, "The number of coefficients has to be even.");
+     129             : 
+     130             : public:
+     131             :   enum
+     132             :   {
+     133             :     N = _N
+     134             :   };
+     135             : 
+     136             :   // Sets up the nonlinear optimization problem.
+     137             :   // Input: dimension = Spatial dimension of the problem. Usually 1 or 3.
+     138             :   // Input: parameters = Parameters for the optimization problem.
+     139             :   // Input: optimize_time_only = Specifies whether the optimization is run
+     140             :   // over the segment times only.
+     141             :   // If true, only the segment times are optimization parameters, and the
+     142             :   // remaining free parameters are found by solving the linear optimization
+     143             :   // problem with the given segment times in every iteration.
+     144             :   // If false, both segment times and free derivatives become optimization
+     145             :   // variables. The latter case is theoretically correct, but may result in
+     146             :   // more iterations.
+     147             :   PolynomialOptimizationNonLinear(size_t dimension, const NonlinearOptimizationParameters& parameters);
+     148             : 
+     149             :   // Sets up the optimization problem from a vector of Vertex objects and
+     150             :   // a vector of times between the vertices.
+     151             :   // Input: vertices = Vector containing the vertices defining the support
+     152             :   // points and constraints of the path.
+     153             :   // Input: segment_times = Vector containing an initial guess of the time
+     154             :   // between two vertices. Thus, its size is size(vertices) - 1.
+     155             :   // Input: derivative_to_optimize = Specifies the derivative of which the
+     156             :   // cost is optimized.
+     157             :   bool setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& segment_times,
+     158             :                          int derivative_to_optimize = PolynomialOptimization<N>::kHighestDerivativeToOptimize);
+     159             : 
+     160             :   // Adds a constraint for the maximum of magnitude to the optimization
+     161             :   // problem.
+     162             :   // Input: derivative_order = Order of the derivative, for which the
+     163             :   // constraint should be checked. Usually velocity (=1) or acceleration (=2).
+     164             :   // maximum_value = Maximum magnitude of the specified derivative.
+     165             :   bool addMaximumMagnitudeConstraint(int dimension, int derivative_order, double maximum_value);
+     166             : 
+     167             :   // Solves the linear optimization problem according to [1].
+     168             :   // The solver is re-used for every dimension, which means:
+     169             :   //  - segment times are equal for each dimension.
+     170             :   //  - each dimension has the same type/set of constraints. Their values can of
+     171             :   // course differ.
+     172             :   bool solveLinear();
+     173             : 
+     174             :   // Runs the optimization until one of the stopping criteria in
+     175             :   // NonlinearOptimizationParameters and the constraints are met.
+     176             :   int optimize();
+     177             : 
+     178             :   // Get the resulting trajectory out -- prefer this as the main method
+     179             :   // to get the results of the optimization, over getting the reference
+     180             :   // to the linear optimizer.
+     181           1 :   void getTrajectory(Trajectory* trajectory) const {
+     182           1 :     poly_opt_.getTrajectory(trajectory);
+     183           1 :   }
+     184             : 
+     185             :   // Returns a const reference to the underlying linear optimization
+     186             :   // object.
+     187             :   const PolynomialOptimization<N>& getPolynomialOptimizationRef() const {
+     188             :     return poly_opt_;
+     189             :   }
+     190             : 
+     191             :   // Returns a non-const reference to the underlying linear optimization
+     192             :   // object.
+     193           1 :   PolynomialOptimization<N>& getPolynomialOptimizationRef() {
+     194             :     return poly_opt_;
+     195             :   }
+     196             : 
+     197           3 :   OptimizationInfo getOptimizationInfo() const {
+     198           5 :     return optimization_info_;
+     199             :   }
+     200             : 
+     201             :   // Functions for optimization, but may be useful for diagnostics outside.
+     202             :   // Gets the trajectory cost (same as the cost in the linear problem).
+     203             :   double getCost() const;
+     204             : 
+     205             :   // Gets the cost including the soft constraints and time costs, should be
+     206             :   // the same cost function as used in the full optimization. Returns the same
+     207             :   // metrics regardless of time estimation method set.
+     208             :   double getTotalCostWithSoftConstraints() const;
+     209             : 
+     210             :   void scaleSegmentTimesWithViolation();
+     211             : 
+     212             : private:
+     213             :   // Holds the data for constraint evaluation, since these methods are
+     214             :   // static.
+     215             :   struct ConstraintData
+     216             :   {
+     217             :     PolynomialOptimizationNonLinear<N>* this_object;
+     218             :     int                                 derivative;
+     219             :     int                                 dimension;
+     220             :     double                              value;
+     221             :   };
+     222             : 
+     223             :   // Objective function for the time-only version.
+     224             :   // Input: segment_times = Segment times in the current iteration.
+     225             :   // Input: gradient = Gradient of the objective function w.r.t. changes of
+     226             :   // parameters. We can't compute the gradient analytically here.
+     227             :   // Thus, only gradient-free optimization methods are possible.
+     228             :   // Input: Custom data pointer = In our case, it's an ConstraintData object.
+     229             :   // Output: Cost = based on the parameters passed in.
+     230             :   static double objectiveFunctionTime(const std::vector<double>& segment_times, std::vector<double>& gradient, void* data);
+     231             : 
+     232             :   // Objective function for the time-only Mellinger Outer Loop.
+     233             :   // Input: segment_times = Segment times in the current iteration.
+     234             :   // Input: gradient = Gradient of the objective function w.r.t. changes of
+     235             :   // parameters. We can't compute the gradient analytically here.
+     236             :   // Thus, only gradient-free optimization methods are possible.
+     237             :   // Input: Custom data pointer = In our case, it's an ConstraintData object.
+     238             :   // Output: Cost = based on the parameters passed in.
+     239             :   static double objectiveFunctionTimeMellingerOuterLoop(const std::vector<double>& segment_times, std::vector<double>& gradient, void* data);
+     240             : 
+     241             :   // Objective function for the version optimizing segment times and free
+     242             :   // derivatives.
+     243             :   // Input: optimization_variables = Optimization variables times in the
+     244             :   // current iteration.
+     245             :   // The variables (time, derivatives) are stacked as follows: [segment_times
+     246             :   // derivatives_dim_0 ... derivatives_dim_N]
+     247             :   // Input: gradient = Gradient of the objective function wrt. changes of
+     248             :   // parameters. We can't compute the gradient analytically here.
+     249             :   // Thus, only gradient free optimization methods are possible.
+     250             :   // Input: data = Custom data pointer. In our case, it's an ConstraintData
+     251             :   // object.
+     252             :   // Output: Cost based on the parameters passed in.
+     253             :   static double objectiveFunctionTimeAndConstraints(const std::vector<double>& optimization_variables, std::vector<double>& gradient, void* data);
+     254             : 
+     255             :   // Evaluates the maximum magnitude constraint at the current value of
+     256             :   // the optimization variables.
+     257             :   // All input parameters are ignored, all information is contained in data.
+     258             :   static double evaluateMaximumMagnitudeConstraint(const std::vector<double>& optimization_variables, std::vector<double>& gradient, void* data);
+     259             : 
+     260             :   // Does the actual optimization work for the time-only version.
+     261             :   int optimizeTime();
+     262             :   int optimizeTimeMellingerOuterLoop();
+     263             : 
+     264             :   // Does the actual optimization work for the full optimization version.
+     265             :   int optimizeTimeAndFreeConstraints();
+     266             : 
+     267             :   // Evaluates the maximum magnitude constraints as soft constraints and
+     268             :   // returns a cost, depending on the violation of the constraints.
+     269             :   // cost_i = min(maximum_cost, exp(abs_violation_i / max_allowed_i * weight))
+     270             :   //  cost = sum(cost_i)
+     271             :   // Input: inequality_constraints = Vector of ConstraintData shared_ptrs,
+     272             :   // describing the constraints.
+     273             :   // Input: weight = Multiplicative weight of the constraint violation.
+     274             :   // Input: maximum_cost = Upper bound of the cost. Necessary, since exp of a
+     275             :   // high violation can end up in inf.
+     276             :   // Output: Sum of the costs per constraint.
+     277             :   double evaluateMaximumMagnitudeAsSoftConstraint(const std::vector<std::shared_ptr<ConstraintData>>& inequality_constraints, double weight,
+     278             :                                                   double maximum_cost = 1.0e12) const;
+     279             : 
+     280             :   // Set lower and upper bounds on the optimization parameters
+     281             :   void setFreeEndpointDerivativeHardConstraints(const Vertex::Vector& vertices, std::vector<double>* lower_bounds, std::vector<double>* upper_bounds);
+     282             : 
+     283             :   // Computes the gradients by doing forward difference!
+     284             :   double getCostAndGradientMellinger(std::vector<double>* gradients);
+     285             : 
+     286             :   // Computes the total trajectory time.
+     287             :   static double computeTotalTrajectoryTime(const std::vector<double>& segment_times);
+     288             : 
+     289             :   // nlopt optimization object.
+     290             :   std::shared_ptr<nlopt::opt> nlopt_;
+     291             : 
+     292             :   // Underlying linear optimization object.
+     293             :   PolynomialOptimization<N> poly_opt_;
+     294             : 
+     295             :   // Parameters for the nonlinear optimzation.
+     296             :   NonlinearOptimizationParameters optimization_parameters_;
+     297             : 
+     298             :   // Holds the data for evaluating inequality constraints.
+     299             :   std::vector<std::shared_ptr<ConstraintData>> inequality_constraints_;
+     300             : 
+     301             :   OptimizationInfo optimization_info_;
+     302             : };
+     303             : 
+     304             : }  // namespace eth_trajectory_generation
+     305             : 
+     306             : namespace nlopt
+     307             : {
+     308             : // Convenience function that turns nlopt's return values into something
+     309             : // readable.
+     310             : std::string returnValueToString(int return_value);
+     311             : }  // namespace nlopt
+     312             : 
+     313             : #endif  // ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_NONLINEAR_H_
+     314             : 
+     315             : #include "eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h"
+
+
+
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_SEGMENT_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_SEGMENT_H_
+      23             : 
+      24             : #include <Eigen/Core>
+      25             : #include <chrono>
+      26             : #include <map>
+      27             : #include <vector>
+      28             : 
+      29             : #include <eth_trajectory_generation/misc.h>
+      30             : #include <eth_trajectory_generation/extremum.h>
+      31             : #include <eth_trajectory_generation/motion_defines.h>
+      32             : #include <eth_trajectory_generation/polynomial.h>
+      33             : 
+      34             : namespace eth_trajectory_generation
+      35             : {
+      36             : 
+      37             : constexpr double kNumNSecPerSec = 1.0e9;
+      38             : constexpr double kNumSecPerNsec = 1.0e-9;
+      39             : 
+      40             : // Class holding the properties of parametric segment of a path.
+      41             : // Time of the segment and one polynomial for each dimension.
+      42             : //    X------------X---------------X
+      43             : //  vertex             segment
+      44           5 : class Segment {
+      45             : public:
+      46             :   typedef std::vector<Segment> Vector;
+      47             : 
+      48           1 :   Segment(int N, int D) : time_(0.0), N_(N), D_(D) {
+      49           1 :     polynomials_.resize(D_, Polynomial(N_));
+      50           1 :   }
+      51           4 :   Segment(const Segment& segment) = default;
+      52             : 
+      53             :   bool        operator==(const Segment& rhs) const;
+      54             :   inline bool operator!=(const Segment& rhs) const {
+      55             :     return !operator==(rhs);
+      56             :   }
+      57             : 
+      58           9 :   int D() const {
+      59           9 :     return D_;
+      60             :   }
+      61           4 :   int N() const {
+      62           4 :     return N_;
+      63             :   }
+      64         250 :   double getTime() const {
+      65         250 :     return time_;
+      66             :   }
+      67             :   uint64_t getTimeNSec() const {
+      68             :     return static_cast<uint64_t>(kNumNSecPerSec * time_);
+      69             :   }
+      70             : 
+      71           9 :   void setTime(double time_sec) {
+      72           9 :     time_ = time_sec;
+      73             :   }
+      74             :   void setTimeNSec(uint64_t time_ns) {
+      75             :     time_ = time_ns * kNumSecPerNsec;
+      76             :   }
+      77             : 
+      78             :   Polynomial& operator[](size_t idx);
+      79             : 
+      80             :   const Polynomial& operator[](size_t idx) const;
+      81             : 
+      82             :   const Polynomial::Vector& getPolynomialsRef() const {
+      83             :     return polynomials_;
+      84             :   }
+      85             : 
+      86             :   Eigen::VectorXd evaluate(double t, int derivative_order = derivative_order::POSITION) const;
+      87             : 
+      88             :   // Computes the candidates for the minimum and maximum magnitude of a single
+      89             :   // segment in the specified derivative. In the 1D case, it simply returns the
+      90             :   // roots of the derivative of the segment-polynomial. For higher dimensions,
+      91             :   // e.g. 3D, we need to find the extrema of \sqrt{x(t)^2 + y(t)^2 + z(t)^2}
+      92             :   // where x, y, z are polynomials describing the position or the derivative,
+      93             :   // specified by Derivative. Taking the derivative yields
+      94             :   // 2 x \dot{x} + 2 y \dot{y} + 2 z \dot{z}, which needs to be zero at the
+      95             :   // extrema. The multiplication of two polynomials is a convolution of their
+      96             :   // coefficients. Re-ordering by their powers and addition yields a polynomial,
+      97             :   // for which we can compute the roots.
+      98             :   // Input: derivative = Derivative of position, in which to find the maxima.
+      99             :   // Input: t_start = Only maxima >= t_start are returned. Usually set to 0.
+     100             :   // Input: t_stop = Only maxima <= t_stop are returned. Usually set to segment
+     101             :   // time.
+     102             :   // Input: dimensions = Vector containing the dimensions that are evaluated.
+     103             :   // Usually [0, 1, 2] for position, [3] for yaw.
+     104             :   // Output: candidates = Vector containing the candidate extrema times.
+     105             :   // Returns whether the computation succeeded -- false means no candidates
+     106             :   // were found by Jenkins-Traub.
+     107             :   bool computeMinMaxMagnitudeCandidateTimes(int derivative, double t_start, double t_end, const std::vector<int>& dimensions,
+     108             :                                             std::vector<double>* candidate_times) const;
+     109             : 
+     110             :   // Convenience function. Additionally evaluates the candidate times.
+     111             :   bool computeMinMaxMagnitudeCandidates(int derivative, double t_start, double t_end, const std::vector<int>& dimensions,
+     112             :                                         std::vector<Extremum>* candidates) const;
+     113             : 
+     114             :   // Convenience function. Evaluates the magnitudes between t_start and t_end
+     115             :   // for a set of candidates for given dimensions.
+     116             :   bool selectMinMaxMagnitudeFromCandidates(int derivative, double t_start, double t_end, const std::vector<int>& dimensions,
+     117             :                                            const std::vector<Extremum>& candidates, Extremum* minimum, Extremum* maximum) const;
+     118             : 
+     119             :   // Split a segment to get a segment with the specified dimension.
+     120             :   bool getSegmentWithSingleDimension(int dimension, Segment* new_segment) const;
+     121             :   // Compose this segment and another segment to a new segment.
+     122             :   bool getSegmentWithAppendedDimension(const Segment& segment_to_append, Segment* new_segment) const;
+     123             : 
+     124             :   // Offset this segment by vector A_r_B.
+     125             :   bool offsetSegment(const Eigen::VectorXd& A_r_B);
+     126             : 
+     127             : protected:
+     128             :   Polynomial::Vector polynomials_;
+     129             :   double             time_;
+     130             : 
+     131             : private:
+     132             :   int N_;  // Number of coefficients.
+     133             :   int D_;  // Number of dimensions.
+     134             : };
+     135             : 
+     136             : // Prints the properties of the segment.
+     137             : // Polynomial coefficients are printed with increasing powers,
+     138             : // i.e. c_0 + c_1*t ... c_{N-1} * t^{N-1}
+     139             : void printSegment(std::ostream& stream, const Segment& s, int derivative);
+     140             : 
+     141             : std::ostream& operator<<(std::ostream& stream, const Segment& s);
+     142             : 
+     143             : std::ostream& operator<<(std::ostream& stream, const std::vector<Segment>& segments);
+     144             : 
+     145             : }  // namespace eth_trajectory_generation
+     146             : 
+     147             : #endif  // ETH_TRAJECTORY_GENERATION_SEGMENT_H_
+
+
+
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Test:MRS UAV System - Test coverage reportLines:0320.0 %
Date:2023-12-06 10:06:33Functions:020.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + +

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eth_trajectory_generation::timing::Accumulator<double, double, 50>::Add(double)0
eth_trajectory_generation::timing::Accumulator<double, double, 50>::LazyVariance() const0
+
+
+ + + +
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..4881448e10 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.func.html @@ -0,0 +1,88 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - timing.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0320.0 %
Date:2023-12-06 10:06:33Functions:020.0 %
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eth_trajectory_generation::timing::Accumulator<double, double, 50>::Add(double)0
eth_trajectory_generation::timing::Accumulator<double, double, 50>::LazyVariance() const0
+
+
+ + + +
Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:0320.0 %
Date:2023-12-06 10:06:33Functions:020.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : /* Adapted from Paul Furgale Schweizer Messer sm_timing */
+      22             : 
+      23             : #ifndef ETH_TRAJECTORY_GENERATION_TIMING_H_
+      24             : #define ETH_TRAJECTORY_GENERATION_TIMING_H_
+      25             : 
+      26             : #include <algorithm>
+      27             : #include <chrono>
+      28             : #include <limits>
+      29             : #include <map>
+      30             : #include <string>
+      31             : #include <vector>
+      32             : 
+      33             : namespace eth_trajectory_generation
+      34             : {
+      35             : namespace timing
+      36             : {
+      37             : 
+      38             : template <typename T, typename Total, int N>
+      39             : class Accumulator {
+      40             : public:
+      41           0 :   Accumulator() : window_samples_(0), total_samples_(0), window_sum_(0), sum_(0), min_(std::numeric_limits<T>::max()), max_(std::numeric_limits<T>::min()) {
+      42             :   }
+      43             : 
+      44           0 :   void Add(T sample) {
+      45           0 :     if (window_samples_ < N) {
+      46           0 :       samples_[window_samples_++] = sample;
+      47           0 :       window_sum_ += sample;
+      48             :     } else {
+      49           0 :       T& oldest = samples_[window_samples_++ % N];
+      50           0 :       window_sum_ += sample - oldest;
+      51           0 :       oldest = sample;
+      52             :     }
+      53           0 :     sum_ += sample;
+      54           0 :     ++total_samples_;
+      55           0 :     if (sample > max_) {
+      56           0 :       max_ = sample;
+      57             :     }
+      58           0 :     if (sample < min_) {
+      59           0 :       min_ = sample;
+      60             :     }
+      61           0 :   }
+      62             : 
+      63           0 :   int TotalSamples() const {
+      64             :     return total_samples_;
+      65             :   }
+      66             : 
+      67           0 :   double Sum() const {
+      68             :     return sum_;
+      69             :   }
+      70             : 
+      71           0 :   double Mean() const {
+      72           0 :     return sum_ / total_samples_;
+      73             :   }
+      74             : 
+      75           0 :   double RollingMean() const {
+      76           0 :     return window_sum_ / std::min(window_samples_, N);
+      77             :   }
+      78             : 
+      79           0 :   double Max() const {
+      80             :     return max_;
+      81             :   }
+      82             : 
+      83           0 :   double Min() const {
+      84             :     return min_;
+      85             :   }
+      86             : 
+      87           0 :   double LazyVariance() const {
+      88           0 :     if (window_samples_ == 0) {
+      89             :       return 0.0;
+      90             :     }
+      91           0 :     double var  = 0;
+      92           0 :     double mean = RollingMean();
+      93           0 :     for (int i = 0; i < std::min(window_samples_, N); ++i) {
+      94           0 :       var += (samples_[i] - mean) * (samples_[i] - mean);
+      95             :     }
+      96           0 :     var /= std::min(window_samples_, N);
+      97           0 :     return var;
+      98             :   }
+      99             : 
+     100             : private:
+     101             :   int   window_samples_;
+     102             :   int   total_samples_;
+     103             :   Total window_sum_;
+     104             :   Total sum_;
+     105             :   T     min_;
+     106             :   T     max_;
+     107             :   T     samples_[N];
+     108             : };
+     109             : 
+     110             : struct TimerMapValue
+     111             : {
+     112           0 :   TimerMapValue() {
+     113             :   }
+     114             : 
+     115             :   // Create an accumulator with specified window size.
+     116             :   Accumulator<double, double, 50> acc_;
+     117             : };
+     118             : 
+     119             : // A class that has the timer interface but does nothing. Swapping this in in
+     120             : // place of the Timer class (say with a typedef) should allow one to disable
+     121             : // timing. Because all of the functions are inline, they should just disappear.
+     122             : class DummyTimer {
+     123             : public:
+     124             :   DummyTimer(size_t /*handle*/, bool /*constructStopped*/ = false) {
+     125             :   }
+     126             :   DummyTimer(std::string const& /*tag*/, bool /*constructStopped*/ = false) {
+     127             :   }
+     128             :   ~DummyTimer() {
+     129             :   }
+     130             : 
+     131             :   void Start() {
+     132             :   }
+     133             :   void Stop() {
+     134             :   }
+     135             :   bool IsTiming() {
+     136             :     return false;
+     137             :   }
+     138             : };
+     139             : 
+     140             : class Timer {
+     141             : public:
+     142             :   Timer(size_t handle, bool constructStopped = false);
+     143             :   Timer(std::string const& tag, bool constructStopped = false);
+     144             :   ~Timer();
+     145             : 
+     146             :   void Start();
+     147             :   void Stop();
+     148             :   bool IsTiming() const;
+     149             : 
+     150             : private:
+     151             :   std::chrono::time_point<std::chrono::system_clock> time_;
+     152             : 
+     153             :   bool   timing_;
+     154             :   size_t handle_;
+     155             : };
+     156             : 
+     157             : class Timing {
+     158             : public:
+     159             :   typedef std::map<std::string, size_t> map_t;
+     160             :   friend class Timer;
+     161             :   // Definition of static functions to query the timers.
+     162             :   static size_t       GetHandle(std::string const& tag);
+     163             :   static std::string  GetTag(size_t handle);
+     164             :   static double       GetTotalSeconds(size_t handle);
+     165             :   static double       GetTotalSeconds(std::string const& tag);
+     166             :   static double       GetMeanSeconds(size_t handle);
+     167             :   static double       GetMeanSeconds(std::string const& tag);
+     168             :   static size_t       GetNumSamples(size_t handle);
+     169             :   static size_t       GetNumSamples(std::string const& tag);
+     170             :   static double       GetVarianceSeconds(size_t handle);
+     171             :   static double       GetVarianceSeconds(std::string const& tag);
+     172             :   static double       GetMinSeconds(size_t handle);
+     173             :   static double       GetMinSeconds(std::string const& tag);
+     174             :   static double       GetMaxSeconds(size_t handle);
+     175             :   static double       GetMaxSeconds(std::string const& tag);
+     176             :   static double       GetHz(size_t handle);
+     177             :   static double       GetHz(std::string const& tag);
+     178             :   static void         Print(std::ostream& out);
+     179             :   static std::string  Print();
+     180             :   static std::string  SecondsToTimeString(double seconds);
+     181             :   static void         Reset();
+     182             :   static const map_t& GetTimers() {
+     183             :     return Instance().tag_map_;
+     184             :   }
+     185             : 
+     186             : private:
+     187             :   void AddTime(size_t handle, double seconds);
+     188             : 
+     189             :   static Timing& Instance();
+     190             : 
+     191             :   Timing();
+     192             :   ~Timing();
+     193             : 
+     194             :   typedef std::vector<TimerMapValue> list_t;
+     195             : 
+     196             :   list_t timers_;
+     197             :   map_t  tag_map_;
+     198             :   size_t max_tag_length_;
+     199             : };
+     200             : 
+     201             : #if DISABLE_TIMING
+     202             : typedef DummyTimer DebugTimer;
+     203             : #else
+     204             : typedef Timer DebugTimer;
+     205             : #endif
+     206             : 
+     207             : // Small timer for benchmarking.
+     208             : class MiniTimer {
+     209             : public:
+     210             :   MiniTimer() : start_(std::chrono::system_clock::now()) {
+     211             :   }
+     212             : 
+     213             :   void start() {
+     214             :     start_ = std::chrono::system_clock::now();
+     215             :   }
+     216             : 
+     217             :   double stop() {
+     218             :     end_ = std::chrono::system_clock::now();
+     219             :     return getTime();
+     220             :   }
+     221             : 
+     222             :   double getTime() const {
+     223             :     if (end_ < start_) {
+     224             :       return 0.0;
+     225             :     }
+     226             :     std::chrono::duration<double> duration = end_ - start_;
+     227             :     return duration.count();
+     228             :   }
+     229             : 
+     230             : private:
+     231             :   std::chrono::time_point<std::chrono::system_clock> start_;
+     232             :   std::chrono::time_point<std::chrono::system_clock> end_;
+     233             : };
+     234             : 
+     235             : }  // namespace timing
+     236             : }  // namespace eth_trajectory_generation
+     237             : 
+     238             : #endif  // ETH_TRAJECTORY_GENERATION_TIMING_H_
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.gcov.overview.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.gcov.overview.html new file mode 100644 index 0000000000..aacb270f7b --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.gcov.overview.html @@ -0,0 +1,80 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.gcov.png b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..99b3a26b1866150aa650537725f0658ba5a7e50d GIT binary patch literal 1036 zcmV+n1oQieP)qV$0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vplDp8i`|TLK*x5@=RVUdZm7Oy-9hA#gU@oCH7@!S!|j!}|^L z`|zJg1u|H{J%I5uxWGuvpHKk~aGH)C;FQ%!%!J>>ca1Ufg)AK^A7Kq7ygw1$RMAs9 zHiQarhGX;|vbV!GfXM??iB5rGJVwj#kreEZ^peAb$wlHGl2?u*|Fm!5s_1>8R+1*;Uj6Yva-hoVnQ zz0C2b{1`lUJek*`dkSXYF;Iw=}s+cIa&uZi}Sf)92B zQ`L>liII_F7;#*GO0i_i-&se~>eqBU@5=J%n98+>e&^Ve2o8N&#`=(u^RNAoj(;K6 ze?doXtNom;THJL;kAR%HrZHY?nBmpv435v583FIEd0ci>?eP56%`_Nuvf<~MyXT$m zXU);y70%D7Sf0k%9G4fD<4!L~+~j)e1sXw5mu6c@^j#q_V3z|ugO7vP9Ho)VV(mUC zN_r_PyY609gfLn$(fX1;f3wh_--$0s!-<6n+O{ z)Y9k=vc<`ZCRurfGLcF!moNUYwRB?^#RFR@YHB8BDi>$@hrqMoBu8_8d}qo9kH4pk z0hcY499=v)B+EpJ)Ps`^ACANlA4-n)%XXIe3(wE5M6Kp0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/trajectory.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - trajectory.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:244158.5 %
Date:2023-12-06 10:06:33Functions:2366.7 %
Legend: Lines: + hit + not hit +
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eth_trajectory_generation::Trajectory::clear()0
eth_trajectory_generation::Trajectory::addSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)2
eth_trajectory_generation::Trajectory::setSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)2
+
+
+ + + +
Generated by: LCOV version 1.14
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eth_trajectory_generation::Trajectory::addSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)2
eth_trajectory_generation::Trajectory::setSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)2
eth_trajectory_generation::Trajectory::clear()0
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_TRAJECTORY_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_TRAJECTORY_H_
+      23             : 
+      24             : #include <eth_trajectory_generation/extremum.h>
+      25             : #include <eth_trajectory_generation/segment.h>
+      26             : #include <eth_trajectory_generation/vertex.h>
+      27             : 
+      28             : namespace eth_trajectory_generation
+      29             : {
+      30             : 
+      31             : // Holder class for trajectories of D dimensions, of K segments, and
+      32             : // polynomial order N-1. (N=12 -> 11th order polynomial, with 12 coefficients).
+      33           0 : class Trajectory {
+      34             : public:
+      35           2 :   Trajectory() : D_(0), N_(0), max_time_(0.0) {
+      36             :   }
+      37           2 :   ~Trajectory() {
+      38           1 :   }
+      39             : 
+      40             :   bool        operator==(const Trajectory& rhs) const;
+      41             :   inline bool operator!=(const Trajectory& rhs) const {
+      42             :     return !operator==(rhs);
+      43             :   }
+      44             : 
+      45          41 :   int D() const {
+      46          41 :     return D_;
+      47             :   }
+      48           0 :   int N() const {
+      49           0 :     return N_;
+      50             :   }
+      51           0 :   int K() const {
+      52           0 :     return segments_.size();
+      53             :   }
+      54             : 
+      55             :   bool empty() const {
+      56             :     return segments_.empty();
+      57             :   }
+      58           0 :   void clear() {
+      59           0 :     segments_.clear();
+      60           0 :     D_        = 0;
+      61           0 :     N_        = 0;
+      62           0 :     max_time_ = 0.0;
+      63           0 :   }
+      64             : 
+      65           2 :   void setSegments(const Segment::Vector& segments) {
+      66           2 :     CHECK(!segments.empty());
+      67             :     // Reset states.
+      68           2 :     D_        = segments.front().D();
+      69           2 :     N_        = segments.front().N();
+      70           2 :     max_time_ = 0.0;
+      71           2 :     segments_.clear();
+      72             : 
+      73           2 :     addSegments(segments);
+      74           2 :   }
+      75             : 
+      76           2 :   void addSegments(const Segment::Vector& segments) {
+      77           4 :     for (const Segment& segment : segments) {
+      78           2 :       CHECK_EQ(segment.D(), D_);
+      79           2 :       CHECK_EQ(segment.N(), N_);
+      80           2 :       max_time_ += segment.getTime();
+      81             :     }
+      82           2 :     segments_.insert(segments_.end(), segments.begin(), segments.end());
+      83           2 :   }
+      84             : 
+      85           0 :   void getSegments(Segment::Vector* segments) const {
+      86           0 :     CHECK_NOTNULL(segments);
+      87           0 :     *segments = segments_;
+      88           0 :   }
+      89             : 
+      90           0 :   const Segment::Vector& segments() const {
+      91           0 :     return segments_;
+      92             :   }
+      93             : 
+      94           2 :   double getMinTime() const {
+      95           2 :     return 0.0;
+      96             :   }
+      97           2 :   double getMaxTime() const {
+      98           2 :     return max_time_;
+      99             :   }
+     100             :   std::vector<double> getSegmentTimes() const;
+     101             : 
+     102             :   // Functions to create new trajectories by splitting (getting a NEW trajectory
+     103             :   // with a single dimension) or compositing (create a new trajectory with
+     104             :   // another trajectory appended).
+     105             :   Trajectory getTrajectoryWithSingleDimension(int dimension) const;
+     106             :   bool       getTrajectoryWithAppendedDimension(const Trajectory& trajectory_to_append, Trajectory* new_trajectory) const;
+     107             : 
+     108             :   // Add trajectories with same dimensions and coefficients to this trajectory.
+     109             :   bool addTrajectories(const std::vector<Trajectory>& trajectories, Trajectory* merged) const;
+     110             : 
+     111             :   // Offset this trajectory by vector A_r_B.
+     112             :   bool offsetTrajectory(const Eigen::VectorXd& A_r_B);
+     113             : 
+     114             :   // Evaluate the vertex constraint at time t.
+     115             :   Vertex getVertexAtTime(double t, int max_derivative_order) const;
+     116             :   // Evaluate the vertex constraint at start time.
+     117             :   Vertex getStartVertex(int max_derivative_order) const;
+     118             :   // Evaluate the vertex constraint at goal time.
+     119             :   Vertex getGoalVertex(int max_derivative_order) const;
+     120             :   // Evaluate all underlying vertices.
+     121             :   bool getVertices(int max_derivative_order_pos, int max_derivative_order_yaw, Vertex::Vector* pos_vertices, Vertex::Vector* yaw_vertices) const;
+     122             :   bool getVertices(int max_derivative_order, Vertex::Vector* vertices) const;
+     123             : 
+     124             :   // Evaluation functions.
+     125             :   // Evaluate at a single time, and a single derivative. Return type of
+     126             :   // dimension D.
+     127             :   Eigen::VectorXd evaluate(double t, int derivative_order = derivative_order::POSITION) const;
+     128             : 
+     129             :   // Evaluates the trajectory in a specified range and derivative.
+     130             :   // Outputs are a vector of the sampled values (size of VectorXd is D) by
+     131             :   // time and optionally the actual sampling times.
+     132             :   void evaluateRange(double t_start, double t_end, double dt, int derivative_order, std::vector<Eigen::VectorXd>* result,
+     133             :                      std::vector<double>* sampling_times = nullptr) const;
+     134             : 
+     135             :   // Compute the analytic minimum and maximum of magnitude for a given
+     136             :   // derivative and dimensions, e.g., [0, 1, 2] for position or [3] for yaw.
+     137             :   // Returns false in case of extremum calculation failure.
+     138             :   bool computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum, int seg) const;
+     139             : 
+     140             :   // Compute the analytic minimum and maximum of magnitude for a given
+     141             :   // derivative and dimensions, e.g., [0, 1, 2] for position or [3] for yaw.
+     142             :   // Returns false in case of extremum calculation failure.
+     143             :   bool computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum) const;
+     144             : 
+     145             :   // Compute max velocity and max acceleration. Shorthand for the method above.
+     146             :   bool computeMaxDerivativesHorizontal(double* v_max, double* a_max, double* j_max, int seg) const;
+     147             :   bool computeMaxDerivativesHorizontal(double* v_max, double* a_max, double* j_max) const;
+     148             : 
+     149             :   bool computeMaxDerivativesVertical(double* v_max, double* a_max, double* j_max, int seg) const;
+     150             :   bool computeMaxDerivativesVertical(double* v_max, double* a_max, double* j_max) const;
+     151             : 
+     152             :   bool computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max, int seg) const;
+     153             :   bool computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max) const;
+     154             : 
+     155             :   // This method SCALES the segment times evenly.
+     156             :   bool scaleSegmentTimes(double scaling);
+     157             : 
+     158             :   // This method SCALES the segment times evenly to ensure that the trajectory
+     159             :   // is feasible given the provided v_max and a_max. Does not change the shape
+     160             :   // of the trajectory, and only *increases* segment times.
+     161             :   bool scaleSegmentTimesToMeetConstraints(const double v_max_translation_horizontal, const double v_max_translation_vertical,
+     162             :                                           const double a_max_translation_horizontal, const double a_max_translation_vertical,
+     163             :                                           const double j_max_translation_horizontal, const double j_max_translation_vertical, const double v_max_heading,
+     164             :                                           const double a_max_heading, const double j_max_heading);
+     165             : 
+     166             : private:
+     167             :   int    D_;         // Number of dimensions.
+     168             :   int    N_;         // Number of coefficients.
+     169             :   double max_time_;  // Time at the end of the trajectory.
+     170             : 
+     171             :   // K is number of segments...
+     172             :   Segment::Vector segments_;
+     173             : };
+     174             : 
+     175             : }  // namespace eth_trajectory_generation
+     176             : 
+     177             : #endif  // ETH_TRAJECTORY_GENERATION_TRAJECTORY_H_
+
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_VERTEX_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_VERTEX_H_
+      23             : 
+      24             : #include <Eigen/Core>
+      25             : #include <chrono>
+      26             : #include <map>
+      27             : #include <vector>
+      28             : #include <eth_trajectory_generation/misc.h>
+      29             : #include <eth_trajectory_generation/motion_defines.h>
+      30             : #include <eth_trajectory_generation/polynomial.h>
+      31             : 
+      32             : namespace eth_trajectory_generation
+      33             : {
+      34             : 
+      35             : // A vertex describes the properties of a support point of a path.
+      36             : // A vertex has a set of constraints, the derivative of position a value, that
+      37             : // have to be matched during optimization procedures. In case of a
+      38             : // multi-dimensional vertex (mostly 3D), the constraint for a derivative
+      39             : // exists in all dimensions, but can have different values in each dimension.
+      40             : //     X------------X---------------X
+      41             : //   vertex             segment
+      42          17 : class Vertex {
+      43             : public:
+      44             :   typedef std::vector<Vertex>             Vector;
+      45             :   typedef Eigen::VectorXd                 ConstraintValue;
+      46             :   typedef std::pair<int, ConstraintValue> Constraint;
+      47             :   typedef std::map<int, ConstraintValue>  Constraints;
+      48             : 
+      49             :   // Constructs an empty vertex and sets time_to_next and
+      50             :   // derivative_to_optimize to zero.
+      51           4 :   Vertex(size_t dimension) : D_(dimension) {
+      52             :   }
+      53             : 
+      54           0 :   int D() const {
+      55           0 :     return D_;
+      56             :   }
+      57             : 
+      58             :   // Adds a constraint for the specified derivative order with the given
+      59             :   // value. If this is a multi-dimensional vertex, all dimensions are
+      60             :   // set to the same value.
+      61             :   inline void addConstraint(int derivative_order, double value) {
+      62             :     constraints_[derivative_order] = ConstraintValue::Constant(D_, value);
+      63             :   }
+      64             : 
+      65             :   // Adds a constraint for the derivative specified in type with the given
+      66             :   // values in the constraint vector. The dimension has to match the derivative.
+      67             :   void addConstraint(int type, const Eigen::VectorXd& constraint);
+      68             : 
+      69             :   // Removes a constraint for the derivative specified in type. Returns false if
+      70             :   // constraint was not set.
+      71             :   bool removeConstraint(int type);
+      72             : 
+      73             :   // Sets a constraint for position and sets all derivatives up to
+      74             :   // (including) up_to_derivative to zero. Convenience method for
+      75             :   // beginning / end vertices. up_to_derivative should be set to
+      76             :   // getHighestDerivativeFromN(N), where N is the order of your polynomial.
+      77             :   void makeStartOrEnd(const Eigen::VectorXd& constraint, int up_to_derivative);
+      78             : 
+      79             :   void makeStartOrEnd(double value, int up_to_derivative) {
+      80             :     makeStartOrEnd(Eigen::VectorXd::Constant(D_, value), up_to_derivative);
+      81             :   }
+      82             : 
+      83             :   // Returns whether the vertex has a constraint for the specified derivative
+      84             :   // order.
+      85             :   bool hasConstraint(int derivative_order) const;
+      86             : 
+      87             :   // Passes the value of the constraint for derivative order to *value,
+      88             :   // and returns whether the constraint is set.
+      89             :   bool getConstraint(int derivative_order, Eigen::VectorXd* constraint) const;
+      90             : 
+      91             :   // Returns a const iterator to the first constraint.
+      92           2 :   typename Constraints::const_iterator cBegin() const {
+      93           2 :     return constraints_.begin();
+      94             :   }
+      95             : 
+      96             :   // Returns a const iterator to the end of the constraints,
+      97             :   // i.e. one after the last element.
+      98           9 :   typename Constraints::const_iterator cEnd() const {
+      99           9 :     return constraints_.end();
+     100             :   }
+     101             : 
+     102             :   // Returns the number of constraints.
+     103             :   size_t getNumberOfConstraints() const {
+     104             :     return constraints_.size();
+     105             :   }
+     106             : 
+     107             :   // Checks if both lhs and rhs are equal up to tol in case of double values.
+     108             :   bool isEqualTol(const Vertex& rhs, double tol) const;
+     109             : 
+     110             :   // Get subdimension vertex.
+     111             :   bool getSubdimension(const std::vector<size_t>& subdimensions, int max_derivative_order, Vertex* subvertex) const;
+     112             : 
+     113             : private:
+     114             :   int         D_;
+     115             :   Constraints constraints_;
+     116             : };
+     117             : 
+     118             : std::ostream& operator<<(std::ostream& stream, const Vertex& v);
+     119             : 
+     120             : std::ostream& operator<<(std::ostream& stream, const std::vector<Vertex>& vertices);
+     121             : 
+     122             : // Makes a rough estimate based on v_max and a_max about the time
+     123             : // required to get from one vertex to the next. Uses the current preferred
+     124             : // method.
+     125             : std::vector<double> estimateSegmentTimes(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     126             :                                          const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal, const double j_max_vertical,
+     127             :                                          const double heading_speed_max, const double heading_acc_max);
+     128             : 
+     129             : // Calculate the velocity assuming instantaneous constant acceleration a_max
+     130             : // and straight line rest-to-rest trajectories.
+     131             : // The time_factor \in [1..Inf] increases the allocated time making the segments
+     132             : // slower and thus feasibility more likely. This method does not take into
+     133             : // account the start and goal velocity and acceleration.
+     134             : std::vector<double> estimateSegmentTimesVelocityRamp(const Vertex::Vector& vertices, double v_max, double a_max, double time_factor = 1.0);
+     135             : 
+     136             : std::vector<double> estimateSegmentTimesEuclidean(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     137             :                                                   const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal,
+     138             :                                                   const double j_max_vertical, const double heading_speed_max, const double heading_acc_max);
+     139             : 
+     140             : std::vector<double> estimateSegmentTimesBaca(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     141             :                                              const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal,
+     142             :                                              const double j_max_vertical, const double heading_speed_max, const double heading_acc_max);
+     143             : 
+     144             : double computeTimeVelocityRamp(const Eigen::VectorXd& start, const Eigen::VectorXd& goal, double v_max, double a_max);
+     145             : 
+     146             : inline int getHighestDerivativeFromN(int N) {
+     147             :   return N / 2 - 1;
+     148             : }
+     149             : 
+     150             : // Creates random vertices for position within minimum_position and
+     151             : // maximum_position.
+     152             : // Vertices at the beginning and end have only fixed constraints with their
+     153             : // derivative set to zero, while  all vertices in between have position as fixed
+     154             : // constraint and the derivatives are left free.
+     155             : // Input: maximum_derivative = The maximum derivative to be set to zero for
+     156             : // beginning and end.
+     157             : // Input: n_segments = Number of segments of the resulting trajectory. Number
+     158             : // of vertices is n_segments + 1.
+     159             : // Input: minimum_position = Minimum position of the space to sample.
+     160             : // Input: maximum_position = Maximum position of the space to sample.
+     161             : // Input: seed = Initial seed for random number generation.
+     162             : // Output: return = Vector containing n_segments + 1 vertices.
+     163             : Vertex::Vector createRandomVertices(int maximum_derivative, size_t n_segments, const Eigen::VectorXd& minimum_position, const Eigen::VectorXd& maximum_position,
+     164             :                                     size_t seed = 0);
+     165             : 
+     166             : Vertex::Vector createSquareVertices(int maximum_derivative, const Eigen::Vector3d& center, double side_length, int rounds);
+     167             : 
+     168             : // Conveninence function to create 1D vertices.
+     169             : Vertex::Vector createRandomVertices1D(int maximum_derivative, size_t n_segments, double minimum_position, double maximum_position, size_t seed = 0);
+     170             : }  // namespace eth_trajectory_generation
+     171             : 
+     172             : #endif  // ETH_TRAJECTORY_GENERATION_VERTEX_H_
+
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Test:MRS UAV System - Test coverage reportLines:41799442.0 %
Date:2023-12-06 10:06:33Functions:3110529.5 %
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:41799442.0 %
Date:2023-12-06 10:06:33Functions:3110529.5 %
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:41799442.0 %
Date:2023-12-06 10:06:33Functions:3110529.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.func-sort-c.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.func-sort-c.html new file mode 100644 index 0000000000..f6a2976432 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - motion_defines.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0240.0 %
Date:2023-12-06 10:06:33Functions:040.0 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::positionDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::orientationDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::positionDerivativeToString[abi:cxx11](int)0
eth_trajectory_generation::orintationDerivativeToString[abi:cxx11](int)0
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - motion_defines.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0240.0 %
Date:2023-12-06 10:06:33Functions:040.0 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::positionDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::orientationDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::positionDerivativeToString[abi:cxx11](int)0
eth_trajectory_generation::orintationDerivativeToString[abi:cxx11](int)0
+
+
+ + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - motion_defines.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0240.0 %
Date:2023-12-06 10:06:33Functions:040.0 %
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/motion_defines.h>
+      22             : 
+      23             : namespace eth_trajectory_generation
+      24             : {
+      25             : 
+      26             : /* positionDerivativeToString //{ */
+      27             : 
+      28           0 : std::string positionDerivativeToString(int derivative) {
+      29           0 :   if (derivative >= derivative_order::POSITION && derivative <= derivative_order::SNAP) {
+      30           0 :     static constexpr const char* text[] = {"position", "velocity", "acceleration", "jerk", "snap"};
+      31           0 :     return std::string(text[derivative]);
+      32             :   } else {
+      33           0 :     return std::string("invalid");
+      34             :   }
+      35             : }
+      36             : 
+      37             : //}
+      38             : 
+      39             : /* positionDerivativeToInt() //{ */
+      40             : 
+      41           0 : int positionDerivativeToInt(const std::string& string) {
+      42           0 :   using namespace derivative_order;
+      43           0 :   if (string == "position") {
+      44             :     return POSITION;
+      45           0 :   } else if (string == "velocity") {
+      46             :     return VELOCITY;
+      47           0 :   } else if (string == "acceleration") {
+      48             :     return ACCELERATION;
+      49           0 :   } else if (string == "jerk") {
+      50             :     return JERK;
+      51           0 :   } else if (string == "snap") {
+      52             :     return SNAP;
+      53             :   } else {
+      54           0 :     return INVALID;
+      55             :   }
+      56             : }
+      57             : 
+      58             : //}
+      59             : 
+      60             : /* orintationDerivativeToString() //{ */
+      61             : 
+      62           0 : std::string orintationDerivativeToString(int derivative) {
+      63           0 :   if (derivative >= derivative_order::ORIENTATION && derivative <= derivative_order::ANGULAR_ACCELERATION) {
+      64           0 :     static constexpr const char* text[] = {"orientation", "angular_velocity", "angular_acceleration"};
+      65           0 :     return std::string(text[derivative]);
+      66             :   } else {
+      67           0 :     return std::string("invalid");
+      68             :   }
+      69             : }
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* orientationDerivativeToInt() //{ */
+      74             : 
+      75           0 : int orientationDerivativeToInt(const std::string& string) {
+      76           0 :   using namespace derivative_order;
+      77           0 :   if (string == "orientation") {
+      78             :     return ORIENTATION;
+      79           0 :   } else if (string == "angular_velocity") {
+      80             :     return ANGULAR_VELOCITY;
+      81           0 :   } else if (string == "angular_acceleration") {
+      82             :     return ANGULAR_ACCELERATION;
+      83             :   } else {
+      84           0 :     return INVALID;
+      85             :   }
+      86             : }
+      87             : 
+      88             : //}
+      89             : 
+      90             : }  // namespace eth_trajectory_generation
+
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Polynomial::offsetPolynomial(double)0
eth_trajectory_generation::Polynomial::computeMinMax(double, double, int, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::selectMinMaxFromRoots(double, double, int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::selectMinMaxFromCandidates(std::vector<double, std::allocator<double> > const&, int, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::getPolynomialWithAppendedCoefficients(int, eth_trajectory_generation::Polynomial*) const0
eth_trajectory_generation::Polynomial::scalePolynomialInTime(double)4
eth_trajectory_generation::Polynomial::convolve(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)12
eth_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots(double, double, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::vector<double, std::allocator<double> >*)18
eth_trajectory_generation::Polynomial::computeMinMaxCandidates(double, double, int, std::vector<double, std::allocator<double> >*) const18
eth_trajectory_generation::Polynomial::getRoots(int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*) const18
eth_trajectory_generation::computeBaseCoefficients(int)47
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Polynomial::offsetPolynomial(double)0
eth_trajectory_generation::Polynomial::scalePolynomialInTime(double)4
eth_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots(double, double, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::vector<double, std::allocator<double> >*)18
eth_trajectory_generation::Polynomial::convolve(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)12
eth_trajectory_generation::computeBaseCoefficients(int)47
eth_trajectory_generation::Polynomial::computeMinMax(double, double, int, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::selectMinMaxFromRoots(double, double, int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::computeMinMaxCandidates(double, double, int, std::vector<double, std::allocator<double> >*) const18
eth_trajectory_generation::Polynomial::selectMinMaxFromCandidates(std::vector<double, std::allocator<double> > const&, int, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::getPolynomialWithAppendedCoefficients(int, eth_trajectory_generation::Polynomial*) const0
eth_trajectory_generation::Polynomial::getRoots(int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*) const18
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      17             :  * implied. See the License for the specific language governing
+      18             :  * permissions and limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/polynomial.h>
+      22             : #include <eth_trajectory_generation/rpoly/rpoly_ak1.h>
+      23             : 
+      24             : #include <algorithm>
+      25             : #include <limits>
+      26             : 
+      27             : namespace eth_trajectory_generation
+      28             : {
+      29             : 
+      30          18 : bool Polynomial::getRoots(int derivative, Eigen::VectorXcd* roots) const {
+      31          18 :   return findRootsJenkinsTraub(getCoefficients(derivative), roots);
+      32             : }
+      33             : 
+      34             : /* selectMinMaxCandidatesFromRoots() //{ */
+      35             : 
+      36          18 : bool Polynomial::selectMinMaxCandidatesFromRoots(double t_start, double t_end, const Eigen::VectorXcd& roots_derivative_of_derivative,
+      37             :                                                  std::vector<double>* candidates) {
+      38          18 :   CHECK_NOTNULL(candidates);
+      39          18 :   if (t_start > t_end) {
+      40           0 :     LOG(WARNING) << "t_start is greater than t_end.";
+      41           0 :     return false;
+      42             :   }
+      43          18 :   candidates->clear();
+      44          18 :   candidates->reserve(roots_derivative_of_derivative.size() + 2);
+      45             :   // Put start and end in, as they are valid candidates.
+      46          18 :   candidates->push_back(t_start);
+      47          18 :   candidates->push_back(t_end);
+      48         168 :   for (size_t i = 0; i < static_cast<size_t>(roots_derivative_of_derivative.size()); i++) {
+      49             :     // Only real roots are considered as critical points.
+      50         150 :     if (std::abs(roots_derivative_of_derivative[i].imag()) > std::numeric_limits<double>::epsilon()) {
+      51          89 :       continue;
+      52             :     }
+      53          98 :     const double candidate = roots_derivative_of_derivative[i].real();
+      54             : 
+      55             :     // Do not evaluate points outside the domain.
+      56          98 :     if (candidate < t_start || candidate > t_end) {
+      57          37 :       continue;
+      58             :     } else {
+      59          61 :       candidates->push_back(candidate);
+      60             :     }
+      61             :   }
+      62             :   return true;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* computeMinMaxCandidates() //{ */
+      68             : 
+      69          18 : bool Polynomial::computeMinMaxCandidates(double t_start, double t_end, int derivative, std::vector<double>* candidates) const {
+      70          18 :   CHECK_NOTNULL(candidates);
+      71          18 :   candidates->clear();
+      72          18 :   if (N_ - derivative - 1 < 0) {
+      73           0 :     LOG(WARNING) << "N - derivative - 1 has to be at least 0.";
+      74           0 :     return false;
+      75             :   }
+      76          36 :   Eigen::VectorXcd roots;
+      77          18 :   bool             success = getRoots(derivative + 1, &roots);
+      78          18 :   if (!success) {
+      79           0 :     VLOG(1) << "Couldn't find roots, polynomial may be constant.";
+      80             :   }
+      81          18 :   if (!selectMinMaxCandidatesFromRoots(t_start, t_end, roots, candidates)) {
+      82           0 :     return false;
+      83             :   }
+      84             :   return true;
+      85             : }
+      86             : 
+      87             : //}
+      88             : 
+      89             : /* selectMinMaxFromRoots() //{ */
+      90             : 
+      91           0 : bool Polynomial::selectMinMaxFromRoots(double t_start, double t_end, int derivative, const Eigen::VectorXcd& roots_derivative_of_derivative,
+      92             :                                        std::pair<double, double>* minimum, std::pair<double, double>* maximum) const {
+      93           0 :   CHECK_NOTNULL(minimum);
+      94           0 :   CHECK_NOTNULL(maximum);
+      95             :   // Find candidates in interval t_start to t_end computing the roots.
+      96           0 :   std::vector<double> candidates;
+      97           0 :   if (!selectMinMaxCandidatesFromRoots(t_start, t_end, roots_derivative_of_derivative, &candidates)) {
+      98             :     return false;
+      99             :   }
+     100             :   // Evaluate minimum and maximum.
+     101           0 :   return selectMinMaxFromCandidates(candidates, derivative, minimum, maximum);
+     102             : }
+     103             : 
+     104             : //}
+     105             : 
+     106             : /* computeMinMax() //{ */
+     107             : 
+     108           0 : bool Polynomial::computeMinMax(double t_start, double t_end, int derivative, std::pair<double, double>* minimum, std::pair<double, double>* maximum) const {
+     109           0 :   CHECK_NOTNULL(minimum);
+     110           0 :   CHECK_NOTNULL(maximum);
+     111             :   // Find candidates in interval t_start to t_end by computing the roots.
+     112           0 :   std::vector<double> candidates;
+     113           0 :   if (!computeMinMaxCandidates(t_start, t_end, derivative, &candidates)) {
+     114             :     return false;
+     115             :   }
+     116             :   // Evaluate minimum and maximum.
+     117           0 :   return selectMinMaxFromCandidates(candidates, derivative, minimum, maximum);
+     118             : }
+     119             : 
+     120             : //}
+     121             : 
+     122             : /* selectMinMaxFromCandidates() //{ */
+     123             : 
+     124           0 : bool Polynomial::selectMinMaxFromCandidates(const std::vector<double>& candidates, int derivative, std::pair<double, double>* minimum,
+     125             :                                             std::pair<double, double>* maximum) const {
+     126           0 :   CHECK_NOTNULL(minimum);
+     127           0 :   CHECK_NOTNULL(maximum);
+     128           0 :   if (candidates.empty()) {
+     129           0 :     LOG(WARNING) << "Cannot find extrema from an empty candidates vector.";
+     130           0 :     return false;
+     131             :   }
+     132           0 :   minimum->first  = candidates[0];
+     133           0 :   minimum->second = std::numeric_limits<double>::max();
+     134           0 :   maximum->first  = candidates[0];
+     135           0 :   maximum->second = std::numeric_limits<double>::lowest();
+     136             : 
+     137           0 :   for (const double& t : candidates) {
+     138           0 :     const double value = evaluate(t, derivative);
+     139           0 :     if (value < minimum->second) {
+     140           0 :       minimum->first  = t;
+     141           0 :       minimum->second = value;
+     142             :     }
+     143           0 :     if (value > maximum->second) {
+     144           0 :       maximum->first  = t;
+     145           0 :       maximum->second = value;
+     146             :     }
+     147             :   }
+     148             :   return true;
+     149             : }
+     150             : 
+     151             : //}
+     152             : 
+     153             : /* computeBaseCoefficients() //{ */
+     154             : 
+     155          47 : Eigen::MatrixXd computeBaseCoefficients(int N) {
+     156          47 :   Eigen::MatrixXd base_coefficients(N, N);
+     157             : 
+     158          47 :   base_coefficients.setZero();
+     159          47 :   base_coefficients.row(0).setOnes();
+     160             : 
+     161          47 :   const int DEG   = N - 1;
+     162          47 :   int       order = DEG;
+     163        1034 :   for (int n = 1; n < N; n++) {
+     164       12831 :     for (int i = DEG - order; i < N; i++) {
+     165       11844 :       base_coefficients(n, i) = (order - DEG + i) * base_coefficients(n - 1, i);
+     166             :     }
+     167         987 :     order--;
+     168             :   }
+     169          47 :   return base_coefficients;
+     170             : }
+     171             : 
+     172             : //}
+     173             : 
+     174             : /* convolve() //{ */
+     175             : 
+     176          12 : Eigen::VectorXd Polynomial::convolve(const Eigen::VectorXd& data, const Eigen::VectorXd& kernel) {
+     177          12 :   const int       convolution_dimension = getConvolutionLength(data.size(), kernel.size());
+     178          12 :   Eigen::VectorXd convolved             = Eigen::VectorXd::Zero(convolution_dimension);
+     179          24 :   Eigen::VectorXd kernel_reverse        = kernel.reverse();
+     180             : 
+     181         180 :   for (int i = 0; i < convolution_dimension; i++) {
+     182         168 :     const int data_idx = i - kernel.size() + 1;
+     183             : 
+     184         168 :     int lower_bound = std::max(0, -data_idx);
+     185         168 :     int upper_bound = std::min(kernel.size(), data.size() - data_idx);
+     186             : 
+     187         848 :     for (int kernel_idx = lower_bound; kernel_idx < upper_bound; ++kernel_idx) {
+     188         680 :       convolved[i] += kernel_reverse[kernel_idx] * data[data_idx + kernel_idx];
+     189             :     }
+     190             :   }
+     191          12 :   return convolved;
+     192             : }
+     193             : 
+     194             : //}
+     195             : 
+     196             : /* getPolynomialWithAppendedCoefficients() //{ */
+     197             : 
+     198           0 : bool Polynomial::getPolynomialWithAppendedCoefficients(int new_N, Polynomial* new_polynomial) const {
+     199           0 :   if (new_N == N_) {
+     200           0 :     *new_polynomial = *this;
+     201           0 :     return true;
+     202           0 :   } else if (new_N < N_) {
+     203           0 :     LOG(WARNING) << "You shan't decrease the number of coefficients.";
+     204           0 :     *new_polynomial = *this;
+     205           0 :     return false;
+     206             :   } else {
+     207           0 :     Eigen::VectorXd coeffs = Eigen::VectorXd::Zero(new_N);
+     208           0 :     coeffs.head(N_)        = coefficients_;
+     209           0 :     *new_polynomial        = Polynomial(coeffs);
+     210           0 :     return true;
+     211             :   }
+     212             : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* scalePolynomialInTime() //{ */
+     217             : 
+     218           4 : void Polynomial::scalePolynomialInTime(double scaling_factor) {
+     219           4 :   double scale = 1.0;
+     220          44 :   for (int n = 0; n < N_; n++) {
+     221          40 :     coefficients_[n] *= scale;
+     222          40 :     scale *= scaling_factor;
+     223             :   }
+     224           4 : }
+     225             : 
+     226             : //}
+     227             : 
+     228             : /* offsetPolynomial() //{ */
+     229             : 
+     230           0 : void Polynomial::offsetPolynomial(const double offset) {
+     231           0 :   if (coefficients_.size() == 0)
+     232             :     return;
+     233             : 
+     234           0 :   coefficients_[0] += offset;
+     235             : }
+     236             : 
+     237             : //}
+     238             : 
+     239             : Eigen::MatrixXd Polynomial::base_coefficients_ = computeBaseCoefficients(Polynomial::kMaxConvolutionSize);
+     240             : 
+     241             : }  // namespace eth_trajectory_generation
+
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::rpoly_impl::rpoly_ak1(double*, int*, double*, double*)18
eth_trajectory_generation::rpolyWrapper(double*, int*, double*, double*)18
eth_trajectory_generation::findLastNonZeroCoeff(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)18
eth_trajectory_generation::findRootsJenkinsTraub(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*)18
eth_trajectory_generation::rpoly_impl::QuadIT_ak1(int, int*, double, double, double*, double*, double*, double*, double*, int, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*)62
eth_trajectory_generation::rpoly_impl::RealIT_ak1(int*, int*, double*, int, double*, int, double*, double*, double*, double*, double*)73
eth_trajectory_generation::rpoly_impl::Fxshfr_ak1(int, int*, double, double, double*, int, double*, int, double*, double*, double*, double*, double*)82
eth_trajectory_generation::rpoly_impl::Quad_ak1(double, double, double, double*, double*, double*, double*)135
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*)261
eth_trajectory_generation::rpoly_impl::nextK_ak1(int, int, double, double, double, double*, double*, double*, double*, double*)261
eth_trajectory_generation::rpoly_impl::calcSC_ak1(int, double, double, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double, double, double*)427
eth_trajectory_generation::rpoly_impl::QuadSD_ak1(int, double, double, double*, double*, double*, double*)619
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Test:MRS UAV System - Test coverage reportLines:34438988.4 %
Date:2023-12-06 10:06:33Functions: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*)82
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*)62
eth_trajectory_generation::rpoly_impl::QuadSD_ak1(int, double, double, double*, double*, double*, double*)619
eth_trajectory_generation::rpoly_impl::RealIT_ak1(int*, int*, double*, int, double*, int, double*, double*, double*, double*, double*)73
eth_trajectory_generation::rpoly_impl::calcSC_ak1(int, double, double, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double, double, double*)427
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*)261
eth_trajectory_generation::rpoly_impl::Quad_ak1(double, double, double, double*, double*, double*, double*)135
eth_trajectory_generation::rpoly_impl::nextK_ak1(int, int, double, double, double, double*, double*, double*, double*, double*)261
eth_trajectory_generation::rpoly_impl::rpoly_ak1(double*, int*, double*, double*)18
eth_trajectory_generation::rpolyWrapper(double*, int*, double*, double*)18
eth_trajectory_generation::findLastNonZeroCoeff(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)18
eth_trajectory_generation::findRootsJenkinsTraub(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*)18
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Test:MRS UAV System - Test coverage reportLines:34438988.4 %
Date:2023-12-06 10:06:33Functions:1212100.0 %
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+
          Line data    Source code
+
+       1             : // rpoly_ak1.cpp - Program for calculating the roots of a polynomial of real
+       2             : // coefficients.
+       3             : // Written in Microsoft Visual Studio Express 2013 for Windows Desktop
+       4             : // 27 May 2014
+       5             : //
+       6             : // The sub-routines listed below are translations of the FORTRAN routines
+       7             : // included in RPOLY.FOR,
+       8             : // posted off the NETLIB site as TOMS/493:
+       9             : //
+      10             : // http://www.netlib.org/toms/493
+      11             : //
+      12             : // TOMS/493 is based on the Jenkins-Traub algorithm.
+      13             : //
+      14             : // To distinguish the routines posted below from others, an _ak1 suffix has been
+      15             : // appended to them.
+      16             : //
+      17             : // Following is a list of the major changes made in the course of translating
+      18             : // the TOMS/493 routines
+      19             : // to the C++ versions posted below:
+      20             : // 1) All global variables have been eliminated.
+      21             : // 2) The "FAIL" parameter passed into RPOLY.FOR has been eliminated.
+      22             : // 3) RPOLY.FOR solves polynomials of degree up to 100, but does not explicitly
+      23             : // state this limit.
+      24             : //     rpoly_ak1 explicitly states this limit; uses the macro name MAXDEGREE to
+      25             : //     specify this limit;
+      26             : //     and does a check to ensure that the user input variable Degree is not
+      27             : //     greater than MAXDEGREE
+      28             : //     (if it is, an error message is output and rpoly_ak1 terminates). If a
+      29             : //     user wishes to compute
+      30             : //     roots of polynomials of degree greater than MAXDEGREE, using a macro name
+      31             : //     like MAXDEGREE provides
+      32             : //     the simplest way of offering this capability.
+      33             : // 4) All "GO TO" statements have been eliminated.
+      34             : //
+      35             : // A small main program is included also, to provide an example of how to use
+      36             : // rpoly_ak1. In this
+      37             : // example, data is input from a file to eliminate the need for a user to type
+      38             : // data in via
+      39             : // the console.
+      40             : 
+      41             : #include <iostream>
+      42             : #include <fstream>
+      43             : #include <cctype>
+      44             : #include <cmath>
+      45             : #include <cfloat>
+      46             : 
+      47             : #include <eth_trajectory_generation/rpoly/rpoly_ak1.h>
+      48             : 
+      49             : namespace eth_trajectory_generation
+      50             : {
+      51             : 
+      52             : constexpr int kRpolyMaxDegree = 100;
+      53             : 
+      54             : // Wraps the call to rpoly_ak1.
+      55             : void rpolyWrapper(double* coefficients_decreasing, int* degree, double* roots_real, double* roots_imag);
+      56             : 
+      57             : /* findLastNonZeroCoeff() //{ */
+      58             : 
+      59          18 : int findLastNonZeroCoeff(const Eigen::VectorXd& coefficients) {
+      60          18 :   int last_non_zero_coefficient = -1;
+      61             : 
+      62             :   // Find last non-zero coefficient:
+      63          54 :   for (int i = coefficients.size() - 1; i != -1; i--) {
+      64          54 :     if (std::abs(coefficients(i)) >= std::numeric_limits<double>::min()) {
+      65             :       last_non_zero_coefficient = i;
+      66             :       break;
+      67             :     }
+      68             :   }
+      69          18 :   return last_non_zero_coefficient;
+      70             : }
+      71             : 
+      72             : //}
+      73             : 
+      74             : /* findRootsJenkinsTraub() //{ */
+      75             : 
+      76          18 : bool findRootsJenkinsTraub(const Eigen::VectorXd& coefficients_increasing, Eigen::VectorXcd* roots) {
+      77             :   // Remove trailing zeros.
+      78          18 :   const int last_non_zero_coefficient = findLastNonZeroCoeff(coefficients_increasing);
+      79          18 :   if (last_non_zero_coefficient == -1) {
+      80             :     // The polynomial has all zero coefficients and has no roots.
+      81           0 :     roots->resize(0);
+      82           0 :     return true;
+      83             :   }
+      84             : 
+      85             :   // Reverse coefficients in descending order.
+      86          36 :   Eigen::VectorXd coefficients_decreasing = coefficients_increasing.head(last_non_zero_coefficient + 1).reverse();
+      87             : 
+      88          18 :   const int n_coefficients = coefficients_decreasing.size();
+      89          18 :   if (n_coefficients < 2) {
+      90             :     // The polynomial is 0th order and has no roots.
+      91          18 :     roots->resize(0);
+      92             :     return true;
+      93             :   }
+      94          18 :   int     degree     = n_coefficients - 1;
+      95          18 :   double* polynomial = new double[kRpolyMaxDegree + 1];
+      96          18 :   double* roots_real = new double[kRpolyMaxDegree];
+      97          18 :   double* roots_imag = new double[kRpolyMaxDegree];
+      98             : 
+      99         186 :   for (size_t i = 0; i < n_coefficients; i++) {
+     100         168 :     polynomial[i] = coefficients_decreasing(i);
+     101             :   }
+     102             : 
+     103          18 :   rpolyWrapper(polynomial, &degree, roots_real, roots_imag);
+     104          18 :   if (degree > 0) {
+     105          18 :     roots->resize(degree);
+     106         168 :     for (int i = 0; i < degree; ++i) {
+     107         150 :       (*roots)[i] = std::complex<double>(roots_real[i], roots_imag[i]);
+     108             :     }
+     109             :   }
+     110             : 
+     111          18 :   delete[] polynomial;
+     112          18 :   delete[] roots_real;
+     113          18 :   delete[] roots_imag;
+     114             : 
+     115          18 :   if (degree > 0) {
+     116             :     return true;
+     117             :   } else {
+     118           0 :     return false;
+     119             :   }
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* findRootsJenkinsTraub() //{ */
+     125             : 
+     126             : namespace rpoly_impl
+     127             : {
+     128             : 
+     129             : using namespace std;
+     130             : 
+     131             : #define MAXDEGREE 100
+     132             : #define MDP1 MAXDEGREE + 1
+     133             : 
+     134             : void rpoly_ak1(double op[MDP1], int* Degree, double zeror[MAXDEGREE], double zeroi[MAXDEGREE]);
+     135             : void Fxshfr_ak1(int L2, int* NZ, double sr, double bnd, double K[MDP1], int N, double p[MDP1], int NN, double qp[MDP1], double* lzi, double* lzr, double* szi,
+     136             :                 double* szr);
+     137             : void QuadSD_ak1(int NN, double u, double v, double p[MDP1], double q[MDP1], double* a, double* b);
+     138             : int  calcSC_ak1(int N, double a, double b, double* a1, double* a3, double* a7, double* c, double* d, double* e, double* f, double* g, double* h, double K[MDP1],
+     139             :                 double u, double v, double qk[MDP1]);
+     140             : void nextK_ak1(int N, int tFlag, double a, double b, double a1, double* a3, double* a7, double K[MDP1], double qk[MDP1], double qp[MDP1]);
+     141             : void newest_ak1(int tFlag, double* uu, double* vv, double a, double a1, double a3, double a7, double b, double c, double d, double f, double g, double h,
+     142             :                 double u, double v, double K[MDP1], int N, double p[MDP1]);
+     143             : void QuadIT_ak1(int N, int* NZ, double uu, double vv, double* szr, double* szi, double* lzr, double* lzi, double qp[MDP1], int NN, double* a, double* b,
+     144             :                 double p[MDP1], double qk[MDP1], double* a1, double* a3, double* a7, double* d, double* e, double* f, double* g, double* h, double K[MDP1]);
+     145             : void RealIT_ak1(int* iFlag, int* NZ, double* sss, int N, double p[MDP1], int NN, double qp[MDP1], double* szr, double* szi, double K[MDP1], double qk[MDP1]);
+     146             : void Quad_ak1(double a, double b1, double c, double* sr, double* si, double* lr, double* li);
+     147             : 
+     148          18 : void rpoly_ak1(double op[MDP1], int* Degree, double zeror[MAXDEGREE], double zeroi[MAXDEGREE]) {
+     149          18 :   int i, j, jj, l, N, NM1, NN, NZ, zerok;
+     150             : 
+     151          18 :   double K[MDP1], p[MDP1], pt[MDP1], qp[MDP1], temp[MDP1];
+     152          18 :   double bnd, df, dx, factor, ff, moduli_max, moduli_min, sc, x, xm;
+     153          18 :   double aa, bb, cc, lzi, lzr, sr, szi, szr, t, xx, xxx, yy;
+     154             : 
+     155          18 :   const double RADFAC = 3.14159265358979323846 / 180;  // Degrees-to-radians conversion factor = pi/180
+     156          18 :   const double lb2    = log(2.0);                      // Dummy variable to avoid re-calculating this value in loop below
+     157          18 :   const double lo     = FLT_MIN / DBL_EPSILON;
+     158          18 :   const double cosr   = cos(94.0 * RADFAC);  // = -0.069756474
+     159          18 :   const double sinr   = sin(94.0 * RADFAC);  // = 0.99756405
+     160             : 
+     161          18 :   if ((*Degree) > MAXDEGREE) {
+     162           0 :     cout << "\nThe entered Degree is greater than MAXDEGREE. Exiting rpoly. No "
+     163           0 :             "further action taken.\n";
+     164           0 :     *Degree = -1;
+     165           0 :     return;
+     166             :   }  // End ((*Degree) > MAXDEGREE)
+     167             : 
+     168             :   // Do a quick check to see if leading coefficient is 0
+     169          18 :   if (op[0] != 0) {
+     170             :     N  = *Degree;
+     171          24 :     xx = sqrt(0.5);  // = 0.70710678
+     172          24 :     yy = -xx;
+     173             : 
+     174             :     // Remove zeros at the origin, if any
+     175             :     j = 0;
+     176          24 :     while (op[N] == 0) {
+     177           6 :       zeror[j] = zeroi[j] = 0.0;
+     178           6 :       N--;
+     179           6 :       j++;
+     180             :     }  // End while (op[N] == 0)
+     181             : 
+     182          18 :     NN = N + 1;
+     183             : 
+     184             :     // Make a copy of the coefficients
+     185         180 :     for (i = 0; i < NN; i++)
+     186         162 :       p[i] = op[i];
+     187             : 
+     188         100 :     while (N >= 1) {  // Main loop
+     189             :       // Start the algorithm for one zero
+     190         100 :       if (N <= 2) {
+     191             :         // Calculate the final zero or pair of zeros
+     192          18 :         if (N < 2) {
+     193           0 :           zeror[(*Degree) - 1] = -(p[1] / p[0]);
+     194           0 :           zeroi[(*Degree) - 1] = 0.0;
+     195             :         }       // End if (N < 2)
+     196             :         else {  // else N == 2
+     197          18 :           Quad_ak1(p[0], p[1], p[2], &zeror[(*Degree) - 2], &zeroi[(*Degree) - 2], &zeror[(*Degree) - 1], &zeroi[(*Degree) - 1]);
+     198             :         }  // End else N == 2
+     199             :         break;
+     200             :       }  // End if (N <= 2)
+     201             : 
+     202             :       // Find the largest and smallest moduli of the coefficients
+     203             : 
+     204             :       moduli_max = 0.0;
+     205             :       moduli_min = FLT_MAX;
+     206             : 
+     207         717 :       for (i = 0; i < NN; i++) {
+     208         635 :         x = fabs(p[i]);
+     209         635 :         if (x > moduli_max)
+     210         524 :           moduli_max = x;
+     211         635 :         if ((x != 0) && (x < moduli_min))
+     212         113 :           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          82 :       sc = lo / moduli_min;
+     224             : 
+     225          82 :       if (((sc <= 1.0) && (moduli_max >= 10)) || ((sc > 1.0) && (FLT_MAX / sc >= moduli_max))) {
+     226          14 :         sc     = ((sc == 0) ? FLT_MIN : sc);
+     227          14 :         l      = (int)(log(sc) / lb2 + 0.5);
+     228          14 :         factor = pow(2.0, l);
+     229          14 :         if (factor != 1.0) {
+     230         177 :           for (i = 0; i < NN; i++)
+     231         163 :             p[i] *= factor;
+     232             :         }  // End if (factor != 1.0)
+     233             :       }    // End if (((sc <= 1.0) && (moduli_max >= 10)) || ((sc > 1.0) &&
+     234             :            // (FLT_MAX/sc >= moduli_max)))
+     235             : 
+     236             :       // Compute lower bound on moduli of zeros
+     237             : 
+     238         717 :       for (i = 0; i < NN; i++)
+     239         635 :         pt[i] = fabs(p[i]);
+     240          82 :       pt[N] = -(pt[N]);
+     241             : 
+     242          82 :       NM1 = N - 1;
+     243             : 
+     244             :       // Compute upper estimate of bound
+     245             : 
+     246          82 :       x = exp((log(-pt[N]) - log(pt[0])) / (double)N);
+     247             : 
+     248          82 :       if (pt[NM1] != 0) {
+     249             :         // If Newton step at the origin is better, use it
+     250          82 :         xm = -pt[N] / pt[NM1];
+     251          82 :         x  = ((xm < x) ? xm : x);
+     252             :       }  // End if (pt[NM1] != 0)
+     253             : 
+     254             :       // Chop the interval (0, x) until ff <= 0
+     255             : 
+     256             :       xm = x;
+     257         112 :       do {
+     258         112 :         x  = xm;
+     259         112 :         xm = 0.1 * x;
+     260         112 :         ff = pt[0];
+     261        1051 :         for (i = 1; i < NN; i++)
+     262         939 :           ff = ff * xm + pt[i];
+     263         112 :       } while (ff > 0);  // End do-while loop
+     264             : 
+     265             :       dx = x;
+     266             : 
+     267             :       // Do Newton iteration until x converges to two decimal places
+     268             : 
+     269         338 :       while (fabs(dx / x) > 0.005) {
+     270             :         df = ff = pt[0];
+     271        1833 :         for (i = 1; i < N; i++) {
+     272        1577 :           ff = x * ff + pt[i];
+     273        1577 :           df = x * df + ff;
+     274             :         }  // End for i
+     275         256 :         ff = x * ff + pt[N];
+     276         256 :         dx = ff / df;
+     277         256 :         x -= dx;
+     278             :       }  // End while loop
+     279             : 
+     280         553 :       bnd = x;
+     281             : 
+     282             :       // Compute the derivative as the initial K polynomial and do 5 steps with
+     283             :       // no shift
+     284             : 
+     285         553 :       for (i = 1; i < N; i++)
+     286         471 :         K[i] = (double)(N - i) * p[i] / ((double)N);
+     287          82 :       K[0] = p[0];
+     288             : 
+     289          82 :       aa    = p[N];
+     290          82 :       bb    = p[NM1];
+     291          82 :       zerok = ((K[NM1] == 0) ? 1 : 0);
+     292             : 
+     293         492 :       for (jj = 0; jj < 5; jj++) {
+     294         410 :         cc = K[NM1];
+     295         410 :         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         410 :           t = -aa / cc;
+     308        2765 :           for (i = 0; i < NM1; i++) {
+     309        2355 :             j    = NM1 - i;
+     310        2355 :             K[j] = t * K[j - 1] + p[j];
+     311             :           }  // End for i
+     312         410 :           K[0]  = p[0];
+     313         410 :           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         635 :       for (i = 0; i < N; i++)
+     320         553 :         temp[i] = K[i];
+     321             : 
+     322             :       // Loop to select the quadratic corresponding to each new shift
+     323             : 
+     324          82 :       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          82 :         xxx = -(sinr * yy) + cosr * xx;
+     330          82 :         yy  = sinr * xx + cosr * yy;
+     331          82 :         xx  = xxx;
+     332          82 :         sr  = bnd * xx;
+     333             : 
+     334             :         // Second stage calculation, fixed quadratic
+     335             : 
+     336          82 :         Fxshfr_ak1(20 * jj, &NZ, sr, bnd, K, N, p, NN, qp, &lzi, &lzr, &szi, &szr);
+     337             : 
+     338          82 :         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          82 :           j        = (*Degree) - N;
+     346          82 :           zeror[j] = szr;
+     347          82 :           zeroi[j] = szi;
+     348          82 :           NN       = NN - NZ;
+     349          82 :           N        = NN - 1;
+     350         609 :           for (i = 0; i < NN; i++)
+     351         527 :             p[i] = qp[i];
+     352          82 :           if (NZ != 1) {
+     353          26 :             zeror[j + 1] = lzr;
+     354          26 :             zeroi[j + 1] = lzi;
+     355             :           }  // End if (NZ != 1)
+     356             :           break;
+     357             :         }       // End if (NZ != 0)
+     358             :         else {  // Else (NZ == 0)
+     359             : 
+     360             :           // If the iteration is unsuccessful, another quadratic is chosen after
+     361             :           // restoring K
+     362           0 :           for (i = 0; i < N; i++)
+     363           0 :             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          82 :       if (jj > 20) {
+     371           0 :         cout << "\nFailure. No convergence after 20 shifts. Program "
+     372           0 :                 "terminated.\n";
+     373           0 :         *Degree -= N;
+     374           0 :         break;
+     375             :       }  // End if (jj > 20)
+     376             : 
+     377             :     }  // End while (N >= 1)
+     378             : 
+     379             :   }       // End if op[0] != 0
+     380             :   else {  // else op[0] == 0
+     381           0 :     cout << "\nThe leading coefficient is zero. No further action taken. "
+     382           0 :             "Program terminated.\n";
+     383           0 :     *Degree = 0;
+     384             :   }  // End else op[0] == 0
+     385             : 
+     386             :   return;
+     387             : }  // End rpoly_ak1
+     388             : 
+     389          82 : 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          82 :   int    fflag, i, iFlag, j, spass, stry, tFlag, vpass, vtry;
+     401          82 :   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          82 :   double qk[MDP1], svk[MDP1];
+     403             : 
+     404          82 :   *NZ   = 0;
+     405          82 :   betav = betas = 0.25;
+     406          82 :   u             = -(2.0 * sr);
+     407          82 :   oss           = sr;
+     408          82 :   ovv = v = bnd;
+     409             : 
+     410             :   // Evaluate polynomial by synthetic division
+     411          82 :   QuadSD_ak1(NN, u, v, p, qp, &a, &b);
+     412             : 
+     413          82 :   tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     414             : 
+     415         205 :   for (j = 0; j < L2; j++) {
+     416             :     // Calculate next K polynomial and estimate v
+     417         205 :     nextK_ak1(N, tFlag, a, b, a1, &a3, &a7, K, qk, qp);
+     418         205 :     tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     419         205 :     newest_ak1(tFlag, &ui, &vi, a, a1, a3, a7, b, c, d, f, g, h, u, v, K, N, p);
+     420             : 
+     421         205 :     vv = vi;
+     422             : 
+     423             :     // Estimate s
+     424             : 
+     425         205 :     ss = ((K[N - 1] != 0.0) ? -(p[N] / K[N - 1]) : 0.0);
+     426             : 
+     427         205 :     ts = tv = 1.0;
+     428             : 
+     429         205 :     if ((j != 0) && (tFlag != 3)) {
+     430             :       // Compute relative measures of convergence of s and v sequences
+     431             : 
+     432         123 :       tv = ((vv != 0.0) ? fabs((vv - ovv) / vv) : tv);
+     433         123 :       ts = ((ss != 0.0) ? fabs((ss - oss) / ss) : ts);
+     434             : 
+     435             :       // If decreasing, multiply the two most recent convergence measures
+     436             : 
+     437         123 :       tvv = ((tv < otv) ? tv * otv : 1.0);
+     438         123 :       tss = ((ts < ots) ? ts * ots : 1.0);
+     439             : 
+     440             :       // Compare with convergence criteria
+     441             : 
+     442         123 :       vpass = ((tvv < betav) ? 1 : 0);
+     443         123 :       spass = ((tss < betas) ? 1 : 0);
+     444             : 
+     445         123 :       if ((spass) || (vpass)) {
+     446             :         // At least one sequence has passed the convergence test.
+     447             :         // Store variables before iterating
+     448             : 
+     449         859 :         for (i = 0; i < N; i++)
+     450         749 :           svk[i] = K[i];
+     451             : 
+     452         110 :         s = ss;
+     453             : 
+     454             :         // Choose iteration according to the fastest converging sequence
+     455             : 
+     456         110 :         stry = vtry = 0;
+     457         110 :         fflag       = 1;
+     458             : 
+     459         117 :         do {
+     460         117 :           iFlag = 1;  // Begin each loop by assuming RealIT will be called
+     461             :                       // UNLESS iFlag changed below
+     462             : 
+     463         117 :           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          62 :             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          62 :             if ((*NZ) > 0)
+     471             :               return;
+     472             : 
+     473             :             // Quadratic iteration has failed. Flag that it has been tried and
+     474             :             // decrease the
+     475             :             // convergence criterion
+     476             : 
+     477          36 :             vtry = 1;
+     478          36 :             betav *= 0.25;
+     479             : 
+     480             :             // Try linear iteration if it has not been tried and the s sequence
+     481             :             // is converging
+     482          36 :             if (stry || (!spass)) {
+     483          18 :               iFlag = 0;
+     484             :             }  // End if (stry || (!spass))
+     485             :             else {
+     486         136 :               for (i = 0; i < N; i++)
+     487         118 :                 K[i] = svk[i];
+     488             :             }  // End if (stry || !spass)
+     489             : 
+     490             :           }  // End else !fflag
+     491             : 
+     492          91 :           if (iFlag != 0) {
+     493          73 :             RealIT_ak1(&iFlag, NZ, &s, N, p, NN, qp, szr, szi, K, qk);
+     494             : 
+     495          73 :             if ((*NZ) > 0)
+     496             :               return;
+     497             : 
+     498             :             // Linear iteration has failed. Flag that it has been tried and
+     499             :             // decrease the
+     500             :             // convergence criterion
+     501             : 
+     502          17 :             stry = 1;
+     503          17 :             betas *= 0.25;
+     504             : 
+     505          17 :             if (iFlag != 0) {
+     506             :               // If linear iteration signals an almost double real zero, attempt
+     507             :               // quadratic iteration
+     508             : 
+     509           6 :               ui = -(s + s);
+     510           6 :               vi = s * s;
+     511           6 :               continue;
+     512             : 
+     513             :             }  // End if (iFlag != 0)
+     514             :           }    // End if (iFlag != 0)
+     515             : 
+     516             :           // Restore variables
+     517         234 :           for (i = 0; i < N; i++)
+     518         205 :             K[i] = svk[i];
+     519             : 
+     520             :           // Try quadratic iteration if it has not been tried and the v sequence
+     521             :           // is converging
+     522             : 
+     523          35 :         } while (vpass && !vtry);  // End do-while loop
+     524             : 
+     525             :         // Re-compute qp and scalar values to continue the second stage
+     526             : 
+     527          28 :         QuadSD_ak1(NN, u, v, p, qp, &a, &b);
+     528          28 :         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         123 :     ovv = vv;
+     535         123 :     oss = ss;
+     536         123 :     otv = tv;
+     537         123 :     ots = ts;
+     538             :   }  // End for j
+     539             : 
+     540             :   return;
+     541             : }  // End Fxshfr_ak1
+     542             : 
+     543         619 : 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         619 :   int i;
+     548             : 
+     549         619 :   q[0] = *b = p[0];
+     550         619 :   q[1] = *a = -((*b) * u) + p[1];
+     551             : 
+     552        3913 :   for (i = 2; i < NN; i++) {
+     553        3294 :     q[i] = -((*a) * u + (*b) * v) + p[i];
+     554        3294 :     *b   = (*a);
+     555        3294 :     *a   = q[i];
+     556             :   }  // End for i
+     557             : 
+     558         619 :   return;
+     559             : }  // End QuadSD_ak1
+     560             : 
+     561         427 : 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         427 :   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         427 :   QuadSD_ak1(N, u, v, K, qk, c, d);
+     575             : 
+     576         427 :   if (fabs((*c)) <= (10.0 * DBL_EPSILON * fabs(K[N - 1]))) {
+     577           0 :     if (fabs((*d)) <= (10.0 * DBL_EPSILON * fabs(K[N - 2])))
+     578             :       return dumFlag;
+     579             :   }  // End if (fabs(c) <= (100.0*DBL_EPSILON*fabs(K[N - 1])))
+     580             : 
+     581         427 :   *h = v * b;
+     582         427 :   if (fabs((*d)) >= fabs((*c))) {
+     583         202 :     dumFlag = 2;  // TYPE = 2 indicates that all formulas are divided by d
+     584         202 :     *e      = a / (*d);
+     585         202 :     *f      = (*c) / (*d);
+     586         202 :     *g      = u * b;
+     587         202 :     *a3     = (*e) * ((*g) + a) + (*h) * (b / (*d));
+     588         202 :     *a1     = -a + (*f) * b;
+     589         202 :     *a7     = (*h) + ((*f) + u) * a;
+     590             :   }  // End if(fabs(d) >= fabs(c))
+     591             :   else {
+     592         225 :     dumFlag = 1;  // TYPE = 1 indicates that all formulas are divided by c;
+     593         225 :     *e      = a / (*c);
+     594         225 :     *f      = (*d) / (*c);
+     595         225 :     *g      = (*e) * u;
+     596         225 :     *a3     = (*e) * a + ((*g) + (*h) / (*c)) * b;
+     597         225 :     *a1     = -(a * ((*d) / (*c))) + b;
+     598         225 :     *a7     = (*g) * (*d) + (*h) * (*f) + a;
+     599             :   }  // End else
+     600             : 
+     601             :   return dumFlag;
+     602             : }  // End calcSC_ak1
+     603             : 
+     604         261 : 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         261 :   int    i;
+     608         261 :   double temp;
+     609             : 
+     610         261 :   if (tFlag == 3) {  // Use unscaled form of the recurrence
+     611           0 :     K[1] = K[0] = 0.0;
+     612             : 
+     613           0 :     for (i = 2; i < N; i++)
+     614           0 :       K[i] = qk[i - 2];
+     615             : 
+     616             :     return;
+     617             :   }  // End if (tFlag == 3)
+     618             : 
+     619         261 :   temp = ((tFlag == 1) ? b : a);
+     620             : 
+     621         261 :   if (fabs(a1) > (10.0 * DBL_EPSILON * fabs(temp))) {
+     622             :     // Use scaled form of the recurrence
+     623             : 
+     624         261 :     (*a7) /= a1;
+     625         261 :     (*a3) /= a1;
+     626         261 :     K[0] = qp[0];
+     627         261 :     K[1] = -((*a7) * qp[0]) + qp[1];
+     628             : 
+     629        1564 :     for (i = 2; i < N; i++)
+     630        1303 :       K[i] = -((*a7) * qp[i - 1]) + (*a3) * qk[i - 2] + qp[i];
+     631             : 
+     632             :   }  // End if (fabs(a1) > (10.0*DBL_EPSILON*fabs(temp)))
+     633             :   else {
+     634             :     // If a1 is nearly zero, then use a special form of the recurrence
+     635             : 
+     636           0 :     K[0] = 0.0;
+     637           0 :     K[1] = -(*a7) * qp[0];
+     638             : 
+     639           0 :     for (i = 2; i < N; i++)
+     640           0 :       K[i] = -((*a7) * qp[i - 1]) + (*a3) * qk[i - 2];
+     641             :   }  // End else
+     642             : 
+     643             :   return;
+     644             : 
+     645             : }  // End nextK_ak1
+     646             : 
+     647         261 : 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         261 :   double a4, a5, b1, b2, c1, c2, c3, c4, temp;
+     653             : 
+     654         261 :   (*vv) = (*uu) = 0.0;  // The quadratic is zeroed
+     655             : 
+     656         261 :   if (tFlag != 3) {
+     657         261 :     if (tFlag != 2) {
+     658         131 :       a4 = a + u * b + h * f;
+     659         131 :       a5 = c + (u + v * f) * d;
+     660             :     }       // End if (tFlag != 2)
+     661             :     else {  // else tFlag == 2
+     662         130 :       a4 = (a + g) * f + h;
+     663         130 :       a5 = (f + u) * c + v * d;
+     664             :     }  // End else tFlag == 2
+     665             : 
+     666             :     // Evaluate new quadratic coefficients
+     667             : 
+     668         261 :     b1   = -K[N - 1] / p[N];
+     669         261 :     b2   = -(K[N - 2] + b1 * p[N - 1]) / p[N];
+     670         261 :     c1   = v * b2 * a1;
+     671         261 :     c2   = b1 * a7;
+     672         261 :     c3   = b1 * b1 * a3;
+     673         261 :     c4   = -(c2 + c3) + c1;
+     674         261 :     temp = -c4 + a5 + b1 * a4;
+     675         261 :     if (temp != 0.0) {
+     676         261 :       *uu = -((u * (c3 + c2) + v * (b1 * a1 + b2 * a7)) / temp) + u;
+     677         261 :       *vv = v * (1.0 + c4 / temp);
+     678             :     }  // End if (temp != 0)
+     679             : 
+     680             :   }  // End if (tFlag != 3)
+     681             : 
+     682         261 :   return;
+     683             : }  // End newest_ak1
+     684             : 
+     685          62 : 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          62 :   int    i, j = 0, tFlag, triedFlag = 0;
+     692          62 :   double c, ee, mp, omp, relstp, t, u, ui, v, vi, zm;
+     693             : 
+     694          62 :   *NZ = 0;   // Number of zeros found
+     695          62 :   u   = uu;  // uu and vv are coefficients of the starting quadratic
+     696          62 :   v   = vv;
+     697             : 
+     698         117 :   do {
+     699         117 :     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         117 :     if (fabs(fabs(*szr) - fabs(*lzr)) > 0.01 * fabs(*lzr))
+     706             :       break;
+     707             : 
+     708             :     // Evaluate polynomial by quadratic synthetic division
+     709             : 
+     710          82 :     QuadSD_ak1(NN, u, v, p, qp, a, b);
+     711             : 
+     712          82 :     mp = fabs(-((*szr) * (*b)) + (*a)) + fabs((*szi) * (*b));
+     713             : 
+     714             :     // Compute a rigorous bound on the rounding error in evaluating p
+     715             : 
+     716          82 :     zm = sqrt(fabs(v));
+     717          82 :     ee = 2.0 * fabs(qp[0]);
+     718          82 :     t  = -((*szr) * (*b));
+     719             : 
+     720         604 :     for (i = 1; i < N; i++)
+     721         522 :       ee = ee * zm + fabs(qp[i]);
+     722             : 
+     723          82 :     ee = ee * zm + fabs((*a) + t);
+     724          82 :     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          82 :     if (mp <= 20.0 * ee) {
+     730          26 :       *NZ = 2;
+     731          26 :       break;
+     732             :     }  // End if (mp <= 20.0*ee)
+     733             : 
+     734          56 :     j++;
+     735             : 
+     736             :     // Stop iteration after 20 steps
+     737          56 :     if (j > 20)
+     738             :       break;
+     739             : 
+     740          56 :     if (j >= 2) {
+     741          27 :       if ((relstp <= 0.01) && (mp >= omp) && (!triedFlag)) {
+     742             :         // A cluster appears to be stalling the convergence. Five fixed shift
+     743             :         // steps are taken with a u, v close to the cluster.
+     744             : 
+     745           0 :         relstp = ((relstp < DBL_EPSILON) ? sqrt(DBL_EPSILON) : sqrt(relstp));
+     746             : 
+     747           0 :         u -= u * relstp;
+     748           0 :         v += v * relstp;
+     749             : 
+     750           0 :         QuadSD_ak1(NN, u, v, p, qp, a, b);
+     751             : 
+     752           0 :         for (i = 0; i < 5; i++) {
+     753           0 :           tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     754           0 :           nextK_ak1(N, tFlag, *a, *b, *a1, a3, a7, K, qk, qp);
+     755             :         }  // End for i
+     756             : 
+     757             :         triedFlag = 1;
+     758             :         j         = 0;
+     759             : 
+     760             :       }  // End if ((relstp <= 0.01) && (mp >= omp) && (!triedFlag))
+     761             : 
+     762             :     }  // End if (j >= 2)
+     763             : 
+     764          56 :     omp = mp;
+     765             : 
+     766             :     // Calculate next K polynomial and new u and v
+     767             : 
+     768          56 :     tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     769          56 :     nextK_ak1(N, tFlag, *a, *b, *a1, a3, a7, K, qk, qp);
+     770          56 :     tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     771          56 :     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          56 :     if (vi != 0) {
+     775          55 :       relstp = fabs((-v + vi) / vi);
+     776          55 :       u      = ui;
+     777          55 :       v      = vi;
+     778             :     }                 // End if (vi != 0)
+     779          56 :   } while (vi != 0);  // End do-while loop
+     780             : 
+     781          62 :   return;
+     782             : 
+     783             : }  // End QuadIT_ak1
+     784             : 
+     785          73 : 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          73 :   int    i, j = 0, nm1 = N - 1;
+     793          73 :   double ee, kv, mp, ms, omp, pv, s, t;
+     794             : 
+     795          73 :   *iFlag = *NZ = 0;
+     796          73 :   s            = *sss;
+     797             : 
+     798         609 :   for (;;) {
+     799         341 :     qp[0] = pv = p[0];
+     800             : 
+     801             :     // Evaluate p at s
+     802        2492 :     for (i = 1; i < NN; i++)
+     803        2151 :       qp[i] = pv = pv * s + p[i];
+     804             : 
+     805         341 :     mp = fabs(pv);
+     806             : 
+     807             :     // Compute a rigorous bound on the error in evaluating p
+     808             : 
+     809         341 :     ms = fabs(s);
+     810         341 :     ee = 0.5 * fabs(qp[0]);
+     811        2492 :     for (i = 1; i < NN; i++)
+     812        2151 :       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         341 :     if (mp <= 20.0 * DBL_EPSILON * (2.0 * ee - mp)) {
+     818          56 :       *NZ  = 1;
+     819          56 :       *szr = s;
+     820          56 :       *szi = 0.0;
+     821          56 :       break;
+     822             :     }  // End if (mp <= 20.0*DBL_EPSILON*(2.0*ee - mp))
+     823             : 
+     824         285 :     j++;
+     825             : 
+     826             :     // Stop iteration after 10 steps
+     827             : 
+     828         285 :     if (j > 10)
+     829             :       break;
+     830             : 
+     831         274 :     if (j >= 2) {
+     832         207 :       if ((fabs(t) <= 0.001 * fabs(-t + s)) && (mp > omp)) {
+     833             :         // A cluster of zeros near the real axis has been encountered;
+     834             :         // Return with iFlag set to initiate a quadratic iteration
+     835             : 
+     836           6 :         *iFlag = 1;
+     837           6 :         *sss   = s;
+     838           6 :         break;
+     839             :       }  // End if ((fabs(t) <= 0.001*fabs(s - t)) && (mp > omp))
+     840             : 
+     841             :     }  // End if (j >= 2)
+     842             : 
+     843             :     // Return if the polynomial value has increased significantly
+     844             : 
+     845         268 :     omp = mp;
+     846             : 
+     847             :     // Compute t, the next polynomial and the new iterate
+     848         268 :     qk[0] = kv = K[0];
+     849        1694 :     for (i = 1; i < N; i++)
+     850        1426 :       qk[i] = kv = kv * s + K[i];
+     851             : 
+     852         268 :     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         268 :       t    = -(pv / kv);
+     856         268 :       K[0] = qp[0];
+     857        1694 :       for (i = 1; i < N; i++)
+     858        1426 :         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         268 :     kv = K[0];
+     868        1694 :     for (i = 1; i < N; i++)
+     869        1426 :       kv = kv * s + K[i];
+     870             : 
+     871         268 :     t = ((fabs(kv) > (fabs(K[nm1]) * 10.0 * DBL_EPSILON)) ? -(pv / kv) : 0.0);
+     872             : 
+     873         268 :     s += t;
+     874             : 
+     875             :   }  // End infinite for loop
+     876             : 
+     877          73 :   return;
+     878             : 
+     879             : }  // End RealIT_ak1
+     880             : 
+     881         135 : 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         135 :   double b, d, e;
+     890             : 
+     891         135 :   *sr = *si = *lr = *li = 0.0;
+     892             : 
+     893         135 :   if (a == 0) {
+     894           0 :     *sr = ((b1 != 0) ? -(c / b1) : *sr);
+     895           0 :     return;
+     896             :   }  // End if (a == 0))
+     897             : 
+     898         135 :   if (c == 0) {
+     899           0 :     *lr = -(b1 / a);
+     900           0 :     return;
+     901             :   }  // End if (c == 0)
+     902             : 
+     903             :   // Compute discriminant avoiding overflow
+     904             : 
+     905         135 :   b = b1 / 2.0;
+     906         135 :   if (fabs(b) < fabs(c)) {
+     907         113 :     e = ((c >= 0) ? a : -a);
+     908         113 :     e = -e + b * (b / fabs(c));
+     909         113 :     d = sqrt(fabs(e)) * sqrt(fabs(c));
+     910             :   }       // End if (fabs(b) < fabs(c))
+     911             :   else {  // Else (fabs(b) >= fabs(c))
+     912          22 :     e = -((a / b) * (c / b)) + 1.0;
+     913          22 :     d = sqrt(fabs(e)) * (fabs(b));
+     914             :   }  // End else (fabs(b) >= fabs(c))
+     915             : 
+     916         135 :   if (e >= 0) {
+     917             :     // Real zeros
+     918             : 
+     919          56 :     d   = ((b >= 0) ? -d : d);
+     920          56 :     *lr = (-b + d) / a;
+     921          56 :     *sr = ((*lr != 0) ? (c / (*lr)) / a : *sr);
+     922             :   }       // End if (e >= 0)
+     923             :   else {  // Else (e < 0)
+     924             :     // Complex conjugate zeros
+     925             : 
+     926          79 :     *lr = *sr = -(b / a);
+     927          79 :     *si       = fabs(d / a);
+     928          79 :     *li       = -(*si);
+     929             :   }  // End else (e < 0)
+     930             : 
+     931             :   return;
+     932             : }  // End Quad_ak1
+     933             : 
+     934             : 
+     935             : }  // namespace rpoly_impl
+     936             : 
+     937             : //}
+     938             : 
+     939          18 : void rpolyWrapper(double* coefficients_decreasing, int* degree, double* roots_real, double* roots_imag) {
+     940          18 :   rpoly_impl::rpoly_ak1(coefficients_decreasing, degree, roots_real, roots_imag);
+     941          18 : }
+     942             : 
+     943             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
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+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly/rpoly_ak1.cpp.gcov.overview.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly/rpoly_ak1.cpp.gcov.overview.html new file mode 100644 index 0000000000..b19041617f --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly/rpoly_ak1.cpp.gcov.overview.html @@ -0,0 +1,256 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly/rpoly_ak1.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 + + +
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly/rpoly_ak1.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly/rpoly_ak1.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d835557b0588a9b1181973c059011c82b8ce1776 GIT binary patch literal 4823 zcmV;|5-9D7P)61V<(woqQ53@ zF{%6)Lthac-P5y_Uc2m)RvI?!X{UeY2YOp8#Kk+PVfy&i`aL%c_;0rM~o z5|G9uO)gK;N6kW7;4;R-#AZ@?fC4$wr+dOQdYg_#E(A#P^jwls7z@^3O&>87wysG z3tlzx@oYMK*)z;NEDPIQF~H$MY#BN!o{FqW%;EgHE22aIl+ULk%9CYC-b+gXWMaB= zR9SgXQ>KjqMtgK83Bd3i?_0KV{7d_w$7K6yP4-6GRYPO&6jI$zk284GVGWDLYW3Jh z5k>GawDy=jUdlA>dADujXMQ*5mD{w|kU8)2x2jE-?_L2;DwtB2yUNhpw&^Ul=kVL} zCs%WL4!v*HBrwpFbbq zgq$=a1Xtr`HJZ_wTO@ zRRH@PDc~Rt)iqgKX6Y(;>0>f3DJsfr=RI8kZUU9Nv^JC}zZ?%+u6hF?mf*~h_p7^@ z0RfOpr|XI(U(2b2@C@7-?3`tE6Y#vY0l;8m^^p&`Ed)HvZ|?DuV=e%Laxc!{l}^|M z1-ZdyeHN=0bL!v{kaS!w>(2YNL{ZIkv7zuzX22MJzF>2$z@M`lz5y6)gCvaY>!tXI zZi5W>By?Pcf5B@02P^SmMX{n6pM@eJ3aDWq zjWNQIPi7O)M|&ZXsz(VlsZ+quPkt1@**-{!lppQTb#Lcs$j}-VvwbH_%Fb~)4{3lq zLnn>?lv$V_XThKumHSUsk7fcd3pXUxSQz4K7Ua3$?|3+cQfW+F0YFP zuw{B6bL-ls8Zrx2O>gzX{tC!8xR{c7JS@NpkbZcU#}nJ`Z_Y6@KCH%m+CX{JHwtW&+GF=E=*@nR+aCSKeMe-~hh2>dhD_*QQJXJapmjgY;q1iTul> zI79m8M4IjoZyc?mG!LN1BcNS>Tz3m<_&GzK&~L{_i|?6re5}!DuR_;?f;lA&VC(2z-)r?wTR|hKM_BVRs6#!%ROqZmwZhihgTmpy-emOf`aC?+UcmSb!08BnNKr$o zsu7ate9+OBDzt5YctackRS@%Mj26S9kTAxNfb->Jq|qF6GoScIk2M~bNZFE)$87Ys zefnV4v|swh6!gpvBWgpAcH1lA&w%1J_j^2CpG=(5q@$`2Otb|!(!{0^`Tcb4J|fOj zCI>nw*y$kp1wA1^l8SDg3zUiU7}&2YA1SBb>$i}w2<5!9y}4i7_Jf=2HVacoXajZg zY=Vq|TDePF@6dR;9Zmsd@@p3J3J{dJO2SomBxkeRX$=_DTzxAJi*c7@Rvlnm4fXW_ z)n)Gi4w2B;3GZnIDYu*9V^Gw0mJsr%diQEE$~^tWK(o-^zK&IDu;4cIti>wKAtA*9 zSD$;JjEY0klBt8HLP1PHWK*82#C7mvEYbiV3LwlaBn`3NsVnP(#qgR{@KbN6YRm z5#w1)jthNqZr9<}w8n;Qi+g6=yn04}x+xohwze71(UUBCq!NgV7V|4c@Ee2$2@y0qParY)gYCHxS=BU|8L`NibIjUGz6?+^`?JdS6^w{{p zFNpE3K%~^wBb>7&J7;saVK(S4D|?%MWsWqjjTKybD-`~w{nE6^70{y$0Am6m&;*Yf z0-J+H?OpVkkTK;`neY-*-bN|`R|zZnfGa#qq+dAy%;V~+<}{@i ziz>4u(qy3XZj*eqm>yjDwV@)5YQMzz*gJLCB$^R{#~D#m7>L3NI;lvzIxtBM6G{*{ z*>@6b*P$dJ=64S+!P}Ts9}s!WJH|dvKp;hs)s(|;M!Ukc%L0egb4DrO@t}vQwtmuQ zq}1)GnhODvW9B<&{O8=SRidE@&2Ui`~3u8Sp`bh|Nd@jy)nsQ#E`^GUW0vtdO6=@1X zatPwQydl8YswaEj27AGJ41jahgS4hl3X-|4jKC1!z+x7hV;DY_-B^r>dna8G28=Cc z)nxpYY^rC3rr|}MNurm@tRaR4Q))gS1V`?Jz9FjvE*!+ek19Cl*X2g z%-t|SGXd&WE2Zx8?;|N6#*BC>Vl3>NydG8Tg6l3gggj zB7IR}D;q~=b8c94sM3Y2&b`CCv8IbrX@P5=IC@+a2}8m9i`lUEdd3H@CL}4ORBCHg z$6=2CnO6+$$$R67_p{xXbG$4r9&1Th^acx-R^lJusRRIPVabqWQ{DNG2>_gCT{ym( zU?AH4{{Kw?aE~rm2xT^es#M)=IAnReQ{(4G^l&kto1Y0BMlx)6XR1=ph%8=GLlyg7 z*$=hu96Sb$+$w!_qn<%x5*eAyaa$I!&QwSsNh3x4 zte2Ls|AHeg2q$Gev7#4}#%?4Dv_q1)WLXE}xSis$D?kVSI{{xlg^+V^_yceaRIrW! z-p=8^oyR?j%=QXS!)>n$_VmGC$Z$M@gy*Esi(?~2l5%1Wzvyii9ETpM?Xk7`Qt1|7 z=0%UBX+>LMmU?zjZ+4E1v}hpi{b|{Td$~#!C-Ye-5ibZ!<~*7jf`T(eBImq-1U)vc ziE(^ae`s9)wq?=U67IJ9d@ARpCA0p(@oK)|p)Nt-{JK-r@S@hW&F`Jq3ZC+>SKW*F zPAF8WNR1p8??JvE^Vs=0Qb$?<-T18O(OXPOYGzdPs@T1_n6ChOQPPVZTYxI}2$iiK zBS8-$VFcm%n+SKkT#Ft;5V8?1K$EO!)w(LeHBWN|$O!MvuK>ndH1qUDBW^>LNu|O> z&rPe6ABF4S35{SsF&H1Zlt~0MJE|W7fWc-is4;%tj;l2dAlK|2Le{B43brX!FDNpc z#_kI7_|T)y!i|v!#0k2Gkj6;}>A2(93zN&#Q+Ex-fyHoe&7b24VBm170_q{-CSa^h z!9yCH^2OL$1?pMP4VYYNeDD!KZ8g_LH5VV0;Cw#rhdO1eYG+Z~ahs(rPhlH<|(Xw+O)QF#t#s7JSnuW;>m&G5D6+-_ougU=WfEfzbL12tIyIH!E}i^NJFvy>qf*3Rgg{dK-Xy z5K#f0Im%f;_lBxqL+Z+K>}UK)fg!#Gp}T5|AmPGkpu9GQO=&uExEsH5X0uqE=q?FS ztj(CgQAkcVrEF@j@9L)s4=`Y4==dBX*V7;-g(x7BYpq;ds7HGQLgaIjpett%CG0xF zJ~*238S6~bghFx&P(oy#HYWKBks|GZc3ryve$DGkGWCWMR^US1QsbK1b05(jVQKQx zQJ|UBrW`-VE^~CXtJHTpx-iQHwRe@947j9n0aIt1gCvv=+p3+>qlMgxtel~lE2qL8 zS~Cz@{~#0x$rFD)Xu|Q!w^;v*DNudd6M(Q%B6ti6fa-K{=OaUlxjE%4Sv%Qy9Xv*h zv~QM=YwS|sQ=L7dK1&d|24qjogtHG=wB4QO*iY$Ce)YjsqIX{aJy3%bYm@33eCISdDesru)YWG8#~$+A z)oR`Vhf1_lHf_8|_Sozxgw1|v3_VFNSGFqnWz~TjT}0T!Mrt48I{@jf-$0L1K;ax< z*vI|`qz+2 zl3*{CwDq{v@z8`^pzK|~-uW0C>firn;u&XL^ge@^BjC%V2}pO@%WM=)M>;Om6GaGocQ3&^y{N5l{6dsrqka>VErAjH@cYqz;7<*t_b@g$G#zg zKD`Hty}$@li1u|7i)8Y97yc2Te8Ech3MQ)qDy4q{tSp6g+@Q7;=1y{phBk$6?Gs|B zIW`xgg@7zT8+K2egi#J(`Fl%mJkUvXJA0&fj^tD1Fi_sL%e`SX{{!Lwc7U586lVYc002ovPDHLkV1g$#Fj@cr literal 0 HcmV?d00001 diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.func-sort-c.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.func-sort-c.html new file mode 100644 index 0000000000..136e02327b --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.func-sort-c.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:5212740.9 %
Date:2023-12-06 10:06:33Functions:61346.2 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::printSegment(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&, int)0
eth_trajectory_generation::Segment::offsetSegment(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)0
eth_trajectory_generation::Segment::getSegmentWithSingleDimension(int, eth_trajectory_generation::Segment*) const0
eth_trajectory_generation::Segment::getSegmentWithAppendedDimension(eth_trajectory_generation::Segment const&, eth_trajectory_generation::Segment*) const0
eth_trajectory_generation::Segment::operator==(eth_trajectory_generation::Segment const&) const0
eth_trajectory_generation::Segment::operator[](unsigned long) const4
eth_trajectory_generation::Segment::operator[](unsigned long)12
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidates(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const18
eth_trajectory_generation::Segment::selectMinMaxMagnitudeFromCandidates(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const18
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidateTimes(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<double, std::allocator<double> >*) const18
eth_trajectory_generation::Segment::evaluate(double, int) const200
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - segment.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5212740.9 %
Date:2023-12-06 10:06:33Functions:61346.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::printSegment(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&, int)0
eth_trajectory_generation::Segment::offsetSegment(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)0
eth_trajectory_generation::Segment::operator[](unsigned long)12
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)0
eth_trajectory_generation::Segment::getSegmentWithSingleDimension(int, eth_trajectory_generation::Segment*) const0
eth_trajectory_generation::Segment::getSegmentWithAppendedDimension(eth_trajectory_generation::Segment const&, eth_trajectory_generation::Segment*) const0
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidates(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const18
eth_trajectory_generation::Segment::selectMinMaxMagnitudeFromCandidates(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const18
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidateTimes(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<double, std::allocator<double> >*) const18
eth_trajectory_generation::Segment::evaluate(double, int) const200
eth_trajectory_generation::Segment::operator==(eth_trajectory_generation::Segment const&) const0
eth_trajectory_generation::Segment::operator[](unsigned long) const4
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - segment.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5212740.9 %
Date:2023-12-06 10:06:33Functions:61346.2 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/segment.h>
+      22             : 
+      23             : #include <cmath>
+      24             : #include <limits>
+      25             : 
+      26             : namespace eth_trajectory_generation
+      27             : {
+      28             : 
+      29             : /* operator==(const Segment& rhs)() //{ */
+      30             : 
+      31           0 : bool Segment::operator==(const Segment& rhs) const {
+      32           0 :   if (D_ != rhs.D_ || time_ != rhs.time_) {
+      33             :     return false;
+      34             :   } else {
+      35           0 :     for (int i = 0; i < D(); i++) {
+      36           0 :       if (polynomials_[i] != rhs[i]) {
+      37             :         return false;
+      38             :       }
+      39             :     }
+      40             :   }
+      41             :   return true;
+      42             : }
+      43             : 
+      44             : //}
+      45             : 
+      46             : /* Segment::operator[](size_t idx) //{ */
+      47             : 
+      48          12 : Polynomial& Segment::operator[](size_t idx) {
+      49          12 :   CHECK_LT(idx, static_cast<size_t>(D_));
+      50          12 :   return polynomials_[idx];
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* Segment::operator[](size_t idx) //{ */
+      56             : 
+      57           4 : const Polynomial& Segment::operator[](size_t idx) const {
+      58           4 :   CHECK_LT(idx, static_cast<size_t>(D_));
+      59           4 :   return polynomials_[idx];
+      60             : }
+      61             : 
+      62             : //}
+      63             : 
+      64             : /* evaluate() //{ */
+      65             : 
+      66         200 : Eigen::VectorXd Segment::evaluate(double t, int derivative) const {
+      67         200 :   Eigen::VectorXd result(D_);
+      68         200 :   result.setZero();
+      69        1000 :   for (int d = 0; d < D_; ++d) {
+      70         800 :     result[d] = polynomials_[d].evaluate(t, derivative);
+      71             :   }
+      72         200 :   return result;
+      73             : }
+      74             : 
+      75             : //}
+      76             : 
+      77             : /* printSegment() //{ */
+      78             : 
+      79           0 : void printSegment(std::ostream& stream, const Segment& s, int derivative) {
+      80           0 :   CHECK(derivative >= 0 && derivative < s.N());
+      81           0 :   stream << "t: " << s.getTime() << std::endl;
+      82           0 :   stream << " coefficients for " << positionDerivativeToString(derivative) << ": " << std::endl;
+      83           0 :   for (int i = 0; i < s.D(); ++i) {
+      84           0 :     stream << "dim " << i << ": " << std::endl;
+      85           0 :     stream << s[i].getCoefficients(derivative) << std::endl;
+      86             :   }
+      87           0 : }
+      88             : 
+      89             : //}
+      90             : 
+      91             : /* operator<<(std::ostream& stream, const Segment& s) //{ */
+      92             : 
+      93           0 : std::ostream& operator<<(std::ostream& stream, const Segment& s) {
+      94           0 :   printSegment(stream, s, derivative_order::POSITION);
+      95           0 :   return stream;
+      96             : }
+      97             : 
+      98             : //}
+      99             : 
+     100             : /* operator<<(std::ostream& stream, const std::vector<Segment>& segments) //{ */
+     101             : 
+     102           0 : std::ostream& operator<<(std::ostream& stream, const std::vector<Segment>& segments) {
+     103           0 :   for (const Segment& s : segments)
+     104           0 :     stream << s << std::endl;
+     105             : 
+     106           0 :   return stream;
+     107             : }
+     108             : 
+     109             : //}
+     110             : 
+     111             : /* computeMinMaxMagnitudeCandidateTimes() //{ */
+     112             : 
+     113          18 : bool Segment::computeMinMaxMagnitudeCandidateTimes(
+     114             : 
+     115             :     int derivative, double t_start, double t_end, const std::vector<int>& dimensions, std::vector<double>* candidate_times) const {
+     116          18 :   CHECK_NOTNULL(candidate_times);
+     117          18 :   candidate_times->clear();
+     118             :   // Compute magnitude derivative roots.
+     119          18 :   if (dimensions.empty()) {
+     120           0 :     LOG(WARNING) << "No dimensions specified." << std::endl;
+     121           0 :     return false;
+     122          18 :   } else if (dimensions.size() > 1) {
+     123           6 :     const int       n_d                           = N_ - derivative;
+     124           6 :     const int       n_dd                          = n_d - 1;
+     125           6 :     const int       convolved_coefficients_length = Polynomial::getConvolutionLength(n_d, n_dd);
+     126           6 :     Eigen::VectorXd convolved_coefficients(convolved_coefficients_length);
+     127           6 :     convolved_coefficients.setZero();
+     128          18 :     for (int dim : dimensions) {
+     129          12 :       if (dim < 0 || dim >= D_) {
+     130           0 :         LOG(WARNING) << "Specified dimensions " << dim << " are out of bounds [0.." << D_ - 1 << "]." << std::endl;
+     131           0 :         return false;
+     132             :       }
+     133             :       // Our coefficients are INCREASING, so when you take the derivative,
+     134             :       // only the lower powers of t have non-zero coefficients.
+     135             :       // So we take the head.
+     136          24 :       Eigen::VectorXd d  = polynomials_[dim].getCoefficients(derivative).head(n_d);
+     137          36 :       Eigen::VectorXd dd = polynomials_[dim].getCoefficients(derivative + 1).head(n_dd);
+     138          24 :       convolved_coefficients += Polynomial::convolve(d, dd);
+     139             :     }
+     140          12 :     Polynomial polynomial_convolved(convolved_coefficients);
+     141             : 
+     142             :     // derivative = -1 because the convolved polynomial is the derivative
+     143             :     // already. We wish to find the minimum and maximum candidates for the
+     144             :     // integral.
+     145           6 :     if (!polynomial_convolved.computeMinMaxCandidates(t_start, t_end, -1, candidate_times)) {
+     146           0 :       return false;
+     147             :     }
+     148             :   } else {
+     149             :     // For dimension.size() == 1  we can simply evaluate the roots of the
+     150             :     // derivative.
+     151          12 :     if (!polynomials_[dimensions[0]].computeMinMaxCandidates(t_start, t_end, derivative, candidate_times)) {
+     152           0 :       return false;
+     153             :     }
+     154             :   }
+     155             :   return true;
+     156             : }
+     157             : 
+     158             : //}
+     159             : 
+     160             : /* computeMinMaxMagnitudeCandidates() //{ */
+     161             : 
+     162          18 : bool Segment::computeMinMaxMagnitudeCandidates(
+     163             : 
+     164             :     int derivative, double t_start, double t_end, const std::vector<int>& dimensions, std::vector<Extremum>* candidates) const {
+     165          18 :   CHECK_NOTNULL(candidates);
+     166             :   // Find candidate times (roots + start + end).
+     167          18 :   std::vector<double> candidate_times;
+     168          18 :   computeMinMaxMagnitudeCandidateTimes(derivative, t_start, t_end, dimensions, &candidate_times);
+     169             : 
+     170             :   // Evaluate candidate times.
+     171          18 :   candidates->resize(candidate_times.size());
+     172         115 :   for (size_t i = 0; i < candidate_times.size(); i++) {
+     173          97 :     double magnitude = 0.0;
+     174         227 :     for (int dim : dimensions) {
+     175         130 :       magnitude += std::pow(polynomials_[dim].evaluate(candidate_times[i], derivative), 2);
+     176             :     }
+     177          97 :     magnitude        = std::sqrt(magnitude);
+     178          97 :     (*candidates)[i] = Extremum(candidate_times[i], magnitude, 0);
+     179             :   }
+     180             : 
+     181          36 :   return true;
+     182             : }
+     183             : 
+     184             : //}
+     185             : 
+     186             : /* selectMinMaxMagnitudeFromCandidates() //{ */
+     187             : 
+     188          18 : bool Segment::selectMinMaxMagnitudeFromCandidates(
+     189             : 
+     190             :     int derivative, double t_start, double t_end, const std::vector<int>& dimensions, const std::vector<Extremum>& candidates, Extremum* minimum,
+     191             :     Extremum* maximum) const {
+     192          18 :   CHECK_NOTNULL(minimum);
+     193          18 :   CHECK_NOTNULL(maximum);
+     194          18 :   if (t_start > t_end) {
+     195           0 :     LOG(WARNING) << "t_start is greater than t_end.";
+     196           0 :     return false;
+     197             :   }
+     198             : 
+     199          18 :   minimum->value = std::numeric_limits<double>::max();
+     200          18 :   maximum->value = std::numeric_limits<double>::lowest();
+     201             : 
+     202             :   // Evaluate passed candidates.
+     203         115 :   for (const Extremum& candidate : candidates) {
+     204          97 :     if (candidate.time < t_start || candidate.time > t_end) {
+     205           0 :       continue;
+     206             :     }
+     207          97 :     *maximum = std::max(*maximum, candidate);
+     208         120 :     *minimum = std::min(*minimum, candidate);
+     209             :   }
+     210             : 
+     211             :   return true;
+     212             : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* selectMinMaxMagnitudeFromCandidates() //{ */
+     217             : 
+     218           0 : bool Segment::getSegmentWithSingleDimension(int dimension, Segment* new_segment) const {
+     219           0 :   if (dimension < 0 || dimension >= D_) {
+     220           0 :     LOG(WARNING) << "You shan't ask for a dimension that does not exist in the segment.";
+     221           0 :     return false;
+     222             :   }
+     223             : 
+     224           0 :   *new_segment      = Segment(N_, 1);
+     225           0 :   (*new_segment)[0] = polynomials_[dimension];
+     226           0 :   new_segment->setTime(time_);
+     227           0 :   return true;
+     228             : }
+     229             : 
+     230             : //}
+     231             : 
+     232             : /* getSegmentWithAppendedDimension() //{ */
+     233             : 
+     234           0 : bool Segment::getSegmentWithAppendedDimension(const Segment& segment_to_append, Segment* new_segment) const {
+     235           0 :   if (N_ == 0 || D_ == 0) {
+     236           0 :     *new_segment = segment_to_append;
+     237           0 :     return true;
+     238             :   }
+     239           0 :   if (segment_to_append.N() == 0 || segment_to_append.D() == 0) {
+     240           0 :     *new_segment = *this;
+     241           0 :     return true;
+     242             :   }
+     243             : 
+     244             :   // Get common polynomial order.
+     245           0 :   const int new_N = std::max(segment_to_append.N(), N_);
+     246           0 :   const int new_D = D_ + segment_to_append.D();
+     247             : 
+     248             :   // Create temporary segments to scale polynomials if necessary.
+     249           0 :   Segment current_segment        = *this;
+     250           0 :   Segment segment_to_append_temp = segment_to_append;
+     251             : 
+     252             :   // Scale segment polynomials to the longer segment time.
+     253           0 :   const double new_time = std::max(time_, segment_to_append.getTime());
+     254           0 :   if (time_ < new_time && new_time > 0.0) {
+     255           0 :     for (int d = 0; d < D_; d++) {
+     256           0 :       current_segment[d].scalePolynomialInTime(time_ / new_time);
+     257             :     }
+     258           0 :   } else if (segment_to_append.getTime() < new_time && new_time > 0.0) {
+     259           0 :     for (int d = 0; d < segment_to_append.D(); d++) {
+     260           0 :       segment_to_append_temp[d].scalePolynomialInTime(segment_to_append.getTime() / new_time);
+     261             :     }
+     262             :   }
+     263             : 
+     264           0 :   *new_segment = Segment(new_N, new_D);
+     265             : 
+     266           0 :   if (N_ == segment_to_append.N()) {
+     267           0 :     for (int i = 0; i < new_D; i++) {
+     268           0 :       if (i < D_) {
+     269           0 :         (*new_segment)[i] = current_segment[i];
+     270             :       } else {
+     271           0 :         (*new_segment)[i] = segment_to_append_temp[i - D_];
+     272             :       }
+     273             :     }
+     274             :   } else {
+     275           0 :     for (int i = 0; i < new_D; i++) {
+     276           0 :       Polynomial polynomial_to_append(new_N);
+     277           0 :       if (i < D_) {
+     278           0 :         if (!polynomials_[i].getPolynomialWithAppendedCoefficients(new_N, &polynomial_to_append)) {
+     279           0 :           return false;
+     280             :         }
+     281             :       } else {
+     282           0 :         if (!segment_to_append[i - D_].getPolynomialWithAppendedCoefficients(new_N, &polynomial_to_append)) {
+     283             :           return false;
+     284             :         }
+     285             :       }
+     286           0 :       (*new_segment)[i] = polynomial_to_append;
+     287             :     }
+     288             :   }
+     289             : 
+     290           0 :   new_segment->setTime(new_time);
+     291           0 :   return true;
+     292             : }
+     293             : 
+     294             : //}
+     295             : 
+     296             : /* offsetSegment() //{ */
+     297             : 
+     298           0 : bool Segment::offsetSegment(const Eigen::VectorXd& A_r_B) {
+     299             : 
+     300           0 :   if (A_r_B.size() < std::min(D_, 3)) {
+     301           0 :     LOG(WARNING) << "Offset vector size smaller than segment dimension.";
+     302           0 :     return false;
+     303             :   }
+     304             : 
+     305             :   // Only translate the first three dimensions.
+     306           0 :   for (size_t i = 0; i < std::min(D_, 3); ++i) {
+     307           0 :     polynomials_[i].offsetPolynomial(A_r_B(i));
+     308             :   }
+     309             : 
+     310             :   return true;
+     311             : }
+     312             : 
+     313             : //}
+     314             : 
+     315             : }  // namespace eth_trajectory_generation
+
+
+
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Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..40fd4130ce0ea43a66ba68b929f4f1ccaac06d09 GIT binary patch literal 1506 zcmV<81s(c{P)GAU`EmxJcx zFa9&}!QgXxElU%K;0CS&!guolHVclwmn?o#Q_$57pUSg&aSoM)3^yN z{NR9UdN5dML=pXv;@_L(70JFhZ7*xrnx^%2hMr*v+(rlj4!)B>y?XwH!fjjUFRAwb zwZh-d$BbSLJ#MyGfwWEvr*Hb|Sry7g;4#*=ZPupwwmvWoX{Ar#lLRVln4RJh_;;M* zNw=uh>j1B?!@?YPT9zl5m-LWV>%FnwC1Ct1qF|BV_r{`$gJGfI5h&^Sa1zV)c)iB? zd}1;)+6SH{ldMkes_G!15(lM%3i#n1j$1O?Wce}RD9SZ zZY8rle#A-;4t!O>qjYJHC>1XYoY%C)#5qSFywB7I6pcXo82V+VL`2XL`{7z_XYJOB zTr^>^VF#GZ&Vb1<+~W2ny+>D*l2dfJleX54nD-whw*nW|KAf2{QNMFBh-moExnBss zy3CL3+7pC?ggwio^s?w?x|K%XL1ONhWXDHC0;h_KOMNN!h1B312jnAC>qP$M4$>2w zs!jl&V))|=`zTXDg9Y~c(V;eYHGtgj`oo@T3LdEFv+3!E)Foq^VdS)@Zno?qBWZ~f znYnK8K_Z1}W*gT%cUIS=h>M(dH`zxpm!%6tVT6Wo(hSu0Qq+WMydLo{HC;Hp*Zov1 z)nr1odX$-h9XHLx#f}Hp$VzvBDJ9rZydZ zwz-wW^5aEmv6lS1F&0kB=fy|D2_S7L!;Vd?)c)P^#Mu940&ux|iB0kj6Q%VTMB8ov z>;MGNU-#GkYJ=_Flf{ld(y2y%!Yc^zpdh{t)RXaECR?>0_3j0?RBF?e^TOE=~dOb@6$c!hgXp|hITJZ8r$EHuM);9S=u zg2sXbYJ1J + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - timing.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:01110.0 %
Date:2023-12-06 10:06:33Functions:0300.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::timing::Timer::Stop()0
eth_trajectory_generation::timing::Timer::Start()0
eth_trajectory_generation::timing::Timer::Timer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
eth_trajectory_generation::timing::Timer::Timer(unsigned long, bool)0
eth_trajectory_generation::timing::Timer::~Timer()0
eth_trajectory_generation::timing::Timing::GetMaxSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMaxSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetMinSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMinSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetNumSamples(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetNumSamples(unsigned long)0
eth_trajectory_generation::timing::Timing::GetMeanSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMeanSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetTotalSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetTotalSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetVarianceSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetVarianceSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::SecondsToTimeString[abi:cxx11](double)0
eth_trajectory_generation::timing::Timing::GetHz(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetHz(unsigned long)0
eth_trajectory_generation::timing::Timing::Print[abi:cxx11]()0
eth_trajectory_generation::timing::Timing::Print(std::basic_ostream<char, std::char_traits<char> >&)0
eth_trajectory_generation::timing::Timing::Reset()0
eth_trajectory_generation::timing::Timing::GetTag[abi:cxx11](unsigned long)0
eth_trajectory_generation::timing::Timing::AddTime(unsigned long, double)0
eth_trajectory_generation::timing::Timing::Instance()0
eth_trajectory_generation::timing::Timing::GetHandle(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::Timing()0
eth_trajectory_generation::timing::Timing::~Timing()0
eth_trajectory_generation::timing::Timer::IsTiming() const0
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.func.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.func.html new file mode 100644 index 0000000000..284f0814f3 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp.func.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - timing.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:01110.0 %
Date:2023-12-06 10:06:33Functions:0300.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::timing::Timer::Stop()0
eth_trajectory_generation::timing::Timer::Start()0
eth_trajectory_generation::timing::Timer::Timer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
eth_trajectory_generation::timing::Timer::Timer(unsigned long, bool)0
eth_trajectory_generation::timing::Timer::~Timer()0
eth_trajectory_generation::timing::Timing::GetMaxSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMaxSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetMinSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMinSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetNumSamples(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetNumSamples(unsigned long)0
eth_trajectory_generation::timing::Timing::GetMeanSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMeanSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetTotalSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetTotalSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetVarianceSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetVarianceSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::SecondsToTimeString[abi:cxx11](double)0
eth_trajectory_generation::timing::Timing::GetHz(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetHz(unsigned long)0
eth_trajectory_generation::timing::Timing::Print[abi:cxx11]()0
eth_trajectory_generation::timing::Timing::Print(std::basic_ostream<char, std::char_traits<char> >&)0
eth_trajectory_generation::timing::Timing::Reset()0
eth_trajectory_generation::timing::Timing::GetTag[abi:cxx11](unsigned long)0
eth_trajectory_generation::timing::Timing::AddTime(unsigned long, double)0
eth_trajectory_generation::timing::Timing::Instance()0
eth_trajectory_generation::timing::Timing::GetHandle(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::Timing()0
eth_trajectory_generation::timing::Timing::~Timing()0
eth_trajectory_generation::timing::Timer::IsTiming() const0
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - timing.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:01110.0 %
Date:2023-12-06 10:06:33Functions:0300.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : /* Adapted from Paul Furgale Schweizer Messer sm_timing*/
+      22             : 
+      23             : #include <math.h>
+      24             : #include <stdio.h>
+      25             : #include <algorithm>
+      26             : #include <ostream>
+      27             : #include <sstream>
+      28             : #include <string>
+      29             : 
+      30             : #include <eth_trajectory_generation/timing.h>
+      31             : 
+      32             : namespace eth_trajectory_generation
+      33             : {
+      34             : namespace timing
+      35             : {
+      36             : 
+      37           0 : Timing& Timing::Instance() {
+      38           0 :   static Timing t;
+      39           0 :   return t;
+      40             : }
+      41             : 
+      42           0 : Timing::Timing() : max_tag_length_(0) {
+      43           0 : }
+      44             : 
+      45           0 : Timing::~Timing() {
+      46           0 : }
+      47             : 
+      48             : /* GetHandle() //{ */
+      49             : 
+      50             : // Static functions to query the timers:
+      51           0 : size_t Timing::GetHandle(std::string const& tag) {
+      52             :   // Search for an existing tag.
+      53           0 :   map_t::iterator i = Instance().tag_map_.find(tag);
+      54           0 :   if (i == Instance().tag_map_.end()) {
+      55             :     // If it is not there, create a tag.
+      56           0 :     size_t handle            = Instance().timers_.size();
+      57           0 :     Instance().tag_map_[tag] = handle;
+      58           0 :     Instance().timers_.push_back(TimerMapValue());
+      59             :     // Track the maximum tag length to help printing a table of timing values
+      60             :     // later.
+      61           0 :     Instance().max_tag_length_ = std::max(Instance().max_tag_length_, tag.size());
+      62           0 :     return handle;
+      63             :   } else {
+      64           0 :     return i->second;
+      65             :   }
+      66             : }
+      67             : 
+      68             : //}
+      69             : 
+      70             : /* GetTag() //{ */
+      71             : 
+      72           0 : std::string Timing::GetTag(size_t handle) {
+      73           0 :   std::string tag;
+      74             : 
+      75             :   // Perform a linear search for the tag.
+      76           0 :   for (typename map_t::value_type current_tag : Instance().tag_map_) {
+      77           0 :     if (current_tag.second == handle) {
+      78           0 :       return current_tag.first;
+      79             :     }
+      80             :   }
+      81           0 :   return tag;
+      82             : }
+      83             : 
+      84             : //}
+      85             : 
+      86             : /* Timer() //{ */
+      87             : 
+      88             : // Class functions used for timing.
+      89           0 : Timer::Timer(size_t handle, bool constructStopped) : timing_(false), handle_(handle) {
+      90           0 :   if (!constructStopped)
+      91           0 :     Start();
+      92           0 : }
+      93             : 
+      94             : //}
+      95             : 
+      96             : /* Timer() //{ */
+      97             : 
+      98           0 : Timer::Timer(std::string const& tag, bool constructStopped) : timing_(false), handle_(Timing::GetHandle(tag)) {
+      99           0 :   if (!constructStopped)
+     100           0 :     Start();
+     101           0 : }
+     102             : 
+     103             : //}
+     104             : 
+     105             : /* ~Timer() //{ */
+     106             : 
+     107           0 : Timer::~Timer() {
+     108           0 :   if (IsTiming())
+     109           0 :     Stop();
+     110           0 : }
+     111             : 
+     112             : //}
+     113             : 
+     114             : /* Start() //{ */
+     115             : 
+     116           0 : void Timer::Start() {
+     117           0 :   timing_ = true;
+     118           0 :   time_   = std::chrono::system_clock::now();
+     119           0 : }
+     120             : 
+     121             : //}
+     122             : 
+     123             : /* Stop() //{ */
+     124             : 
+     125           0 : void Timer::Stop() {
+     126           0 :   std::chrono::time_point<std::chrono::system_clock> now = std::chrono::system_clock::now();
+     127           0 :   double                                             dt  = std::chrono::duration<double>(now - time_).count();
+     128             : 
+     129           0 :   Timing::Instance().AddTime(handle_, dt);
+     130           0 :   timing_ = false;
+     131           0 : }
+     132             : 
+     133             : //}
+     134             : 
+     135             : /* IsTiming() //{ */
+     136             : 
+     137           0 : bool Timer::IsTiming() const {
+     138           0 :   return timing_;
+     139             : }
+     140             : 
+     141             : //}
+     142             : 
+     143             : /* AddTime() //{ */
+     144             : 
+     145           0 : void Timing::AddTime(size_t handle, double seconds) {
+     146           0 :   timers_[handle].acc_.Add(seconds);
+     147           0 : }
+     148             : 
+     149             : //}
+     150             : 
+     151             : /* GetTotalSeconds() //{ */
+     152             : 
+     153           0 : double Timing::GetTotalSeconds(size_t handle) {
+     154           0 :   return Instance().timers_[handle].acc_.Sum();
+     155             : }
+     156             : 
+     157             : //}
+     158             : 
+     159             : /* GetTotalSeconds() //{ */
+     160             : 
+     161           0 : double Timing::GetTotalSeconds(std::string const& tag) {
+     162           0 :   return GetTotalSeconds(GetHandle(tag));
+     163             : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* GetMeanSeconds() //{ */
+     168             : 
+     169           0 : double Timing::GetMeanSeconds(size_t handle) {
+     170           0 :   return Instance().timers_[handle].acc_.Mean();
+     171             : }
+     172             : 
+     173             : //}
+     174             : 
+     175             : /* GetMeanSeconds() //{ */
+     176             : 
+     177           0 : double Timing::GetMeanSeconds(std::string const& tag) {
+     178           0 :   return GetMeanSeconds(GetHandle(tag));
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* GetNumSamples() //{ */
+     184             : 
+     185           0 : size_t Timing::GetNumSamples(size_t handle) {
+     186           0 :   return Instance().timers_[handle].acc_.TotalSamples();
+     187             : }
+     188             : 
+     189             : //}
+     190             : 
+     191             : /* GetNumSamples() //{ */
+     192             : 
+     193           0 : size_t Timing::GetNumSamples(std::string const& tag) {
+     194           0 :   return GetNumSamples(GetHandle(tag));
+     195             : }
+     196             : 
+     197             : //}
+     198             : 
+     199             : /* GetVarianceSeconds() //{ */
+     200             : 
+     201           0 : double Timing::GetVarianceSeconds(size_t handle) {
+     202           0 :   return Instance().timers_[handle].acc_.LazyVariance();
+     203             : }
+     204             : 
+     205             : //}
+     206             : 
+     207             : /* GetVarianceSeconds() //{ */
+     208             : 
+     209           0 : double Timing::GetVarianceSeconds(std::string const& tag) {
+     210           0 :   return GetVarianceSeconds(GetHandle(tag));
+     211             : }
+     212             : 
+     213             : //}
+     214             : 
+     215             : /* GetMinSeconds() //{ */
+     216             : 
+     217           0 : double Timing::GetMinSeconds(size_t handle) {
+     218           0 :   return Instance().timers_[handle].acc_.Min();
+     219             : }
+     220             : 
+     221             : //}
+     222             : 
+     223             : /* GetMinSeconds() //{ */
+     224             : 
+     225           0 : double Timing::GetMinSeconds(std::string const& tag) {
+     226           0 :   return GetMinSeconds(GetHandle(tag));
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* GetMaxSeconds() //{ */
+     232             : 
+     233           0 : double Timing::GetMaxSeconds(size_t handle) {
+     234           0 :   return Instance().timers_[handle].acc_.Max();
+     235             : }
+     236             : 
+     237             : //}
+     238             : 
+     239             : /* GetMaxSeconds() //{ */
+     240             : 
+     241           0 : double Timing::GetMaxSeconds(std::string const& tag) {
+     242           0 :   return GetMaxSeconds(GetHandle(tag));
+     243             : }
+     244             : 
+     245             : //}
+     246             : 
+     247             : /* GetHz() //{ */
+     248             : 
+     249           0 : double Timing::GetHz(size_t handle) {
+     250           0 :   return 1.0 / Instance().timers_[handle].acc_.RollingMean();
+     251             : }
+     252             : 
+     253             : //}
+     254             : 
+     255             : /* GetHz() //{ */
+     256             : 
+     257           0 : double Timing::GetHz(std::string const& tag) {
+     258           0 :   return GetHz(GetHandle(tag));
+     259             : }
+     260             : 
+     261             : //}
+     262             : 
+     263             : /* SecondsToTimeString() //{ */
+     264             : 
+     265           0 : std::string Timing::SecondsToTimeString(double seconds) {
+     266           0 :   char buffer[256];
+     267           0 :   snprintf(buffer, sizeof(buffer), "%09.6f", seconds);
+     268           0 :   return buffer;
+     269             : }
+     270             : 
+     271             : //}
+     272             : 
+     273             : /* Print() //{ */
+     274             : 
+     275           0 : void Timing::Print(std::ostream& out) {
+     276           0 :   map_t& tagMap = Instance().tag_map_;
+     277             : 
+     278           0 :   if (tagMap.empty()) {
+     279             :     return;
+     280             :   }
+     281             : 
+     282           0 :   out << "SM Timing\n";
+     283           0 :   out << "-----------\n";
+     284           0 :   for (typename map_t::value_type t : tagMap) {
+     285           0 :     size_t i = t.second;
+     286           0 :     out.width((std::streamsize)Instance().max_tag_length_);
+     287           0 :     out.setf(std::ios::left, std::ios::adjustfield);
+     288           0 :     out << t.first << "\t";
+     289           0 :     out.width(7);
+     290             : 
+     291           0 :     out.setf(std::ios::right, std::ios::adjustfield);
+     292           0 :     out << GetNumSamples(i) << "\t";
+     293           0 :     if (GetNumSamples(i) > 0) {
+     294           0 :       out << SecondsToTimeString(GetTotalSeconds(i)) << "\t";
+     295           0 :       double meansec = GetMeanSeconds(i);
+     296           0 :       double stddev  = sqrt(GetVarianceSeconds(i));
+     297           0 :       out << "(" << SecondsToTimeString(meansec) << " +- ";
+     298           0 :       out << SecondsToTimeString(stddev) << ")\t";
+     299             : 
+     300           0 :       double minsec = GetMinSeconds(i);
+     301           0 :       double maxsec = GetMaxSeconds(i);
+     302             : 
+     303             :       // The min or max are out of bounds.
+     304           0 :       out << "[" << SecondsToTimeString(minsec) << "," << SecondsToTimeString(maxsec) << "]";
+     305             :     }
+     306           0 :     out << std::endl;
+     307             :   }
+     308             : }
+     309             : 
+     310             : //}
+     311             : 
+     312             : /* Print() //{ */
+     313             : 
+     314           0 : std::string Timing::Print() {
+     315           0 :   std::stringstream ss;
+     316           0 :   Print(ss);
+     317           0 :   return ss.str();
+     318             : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* Reset() //{ */
+     323             : 
+     324           0 : void Timing::Reset() {
+     325           0 :   Instance().tag_map_.clear();
+     326           0 : }
+     327             : 
+     328             : //}
+     329             : 
+     330             : }  // namespace timing
+     331             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:17829859.7 %
Date:2023-12-06 10:06:33Functions:112347.8 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Trajectory::offsetTrajectory(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)0
eth_trajectory_generation::Trajectory::scaleSegmentTimes(double)0
eth_trajectory_generation::Trajectory::getVertices(int, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*) const0
eth_trajectory_generation::Trajectory::getVertices(int, int, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*) const0
eth_trajectory_generation::Trajectory::getGoalVertex(int) const0
eth_trajectory_generation::Trajectory::getStartVertex(int) const0
eth_trajectory_generation::Trajectory::addTrajectories(std::vector<eth_trajectory_generation::Trajectory, std::allocator<eth_trajectory_generation::Trajectory> > const&, eth_trajectory_generation::Trajectory*) const0
eth_trajectory_generation::Trajectory::getVertexAtTime(double, int) const0
eth_trajectory_generation::Trajectory::getTrajectoryWithSingleDimension(int) const0
eth_trajectory_generation::Trajectory::getTrajectoryWithAppendedDimension(eth_trajectory_generation::Trajectory const&, eth_trajectory_generation::Trajectory*) const0
eth_trajectory_generation::Trajectory::evaluate(double, int) const0
eth_trajectory_generation::Trajectory::operator==(eth_trajectory_generation::Trajectory const&) const0
eth_trajectory_generation::Trajectory::scaleSegmentTimesToMeetConstraints(double, double, double, double, double, double, double, double, double)1
eth_trajectory_generation::Trajectory::getSegmentTimes() const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*, int) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*, int) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*, int) const1
eth_trajectory_generation::Trajectory::evaluateRange(double, double, double, int, std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >*, std::vector<double, std::allocator<double> >*) const5
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const9
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*, int) const9
+
+
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Generated by: LCOV version 1.14
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+ + + 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..cf3f98b17a --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:17829859.7 %
Date:2023-12-06 10:06:33Functions:112347.8 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Trajectory::offsetTrajectory(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)0
eth_trajectory_generation::Trajectory::scaleSegmentTimes(double)0
eth_trajectory_generation::Trajectory::scaleSegmentTimesToMeetConstraints(double, double, double, double, double, double, double, double, double)1
eth_trajectory_generation::Trajectory::getVertices(int, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*) const0
eth_trajectory_generation::Trajectory::getVertices(int, int, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*) const0
eth_trajectory_generation::Trajectory::evaluateRange(double, double, double, int, std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >*, std::vector<double, std::allocator<double> >*) const5
eth_trajectory_generation::Trajectory::getGoalVertex(int) const0
eth_trajectory_generation::Trajectory::getStartVertex(int) const0
eth_trajectory_generation::Trajectory::addTrajectories(std::vector<eth_trajectory_generation::Trajectory, std::allocator<eth_trajectory_generation::Trajectory> > const&, eth_trajectory_generation::Trajectory*) const0
eth_trajectory_generation::Trajectory::getSegmentTimes() const1
eth_trajectory_generation::Trajectory::getVertexAtTime(double, int) const0
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const9
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*, int) const9
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*, int) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*, int) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*) const1
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*, int) const1
eth_trajectory_generation::Trajectory::getTrajectoryWithSingleDimension(int) const0
eth_trajectory_generation::Trajectory::getTrajectoryWithAppendedDimension(eth_trajectory_generation::Trajectory const&, eth_trajectory_generation::Trajectory*) const0
eth_trajectory_generation::Trajectory::evaluate(double, int) const0
eth_trajectory_generation::Trajectory::operator==(eth_trajectory_generation::Trajectory const&) const0
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:17829859.7 %
Date:2023-12-06 10:06:33Functions:112347.8 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/trajectory.h>
+      22             : #include <limits>
+      23             : 
+      24             : // fixes error due to std::iota (has been introduced in c++ standard lately
+      25             : // and may cause compilation errors depending on compiler)
+      26             : #if __cplusplus <= 199711L
+      27             : #include <algorithm>
+      28             : #else
+      29             : #include <numeric>
+      30             : #endif
+      31             : 
+      32             : namespace eth_trajectory_generation
+      33             : {
+      34             : 
+      35             : /* operator==(const Trajectory& rhs) //{ */
+      36             : 
+      37           0 : bool Trajectory::operator==(const Trajectory& rhs) const {
+      38           0 :   if (segments_.size() != rhs.segments_.size()) {
+      39             :     // Different number of segments.
+      40             :     return false;
+      41             :   } else {
+      42           0 :     for (int i = 0; i < K(); i++) {
+      43           0 :       if (segments_ != rhs.segments_) {
+      44             :         return false;
+      45             :       }
+      46             :     }
+      47             :     return true;
+      48             :   }
+      49             : }
+      50             : 
+      51             : //}
+      52             : 
+      53             : /* evaluate() //{ */
+      54             : 
+      55           0 : Eigen::VectorXd Trajectory::evaluate(double t, int derivative_order) const {
+      56             : 
+      57           0 :   double accumulated_time = 0.0;
+      58             : 
+      59             :   // Look for the correct segment.
+      60           0 :   size_t i = 0;
+      61           0 :   for (i = 0; i < segments_.size(); ++i) {
+      62           0 :     accumulated_time += segments_[i].getTime();
+      63             :     // |<--t_accumulated -->|
+      64             :     // x----------x---------x
+      65             :     //               ^t_start
+      66             :     //            |chosen it|
+      67             :     // in case t_start falls on a vertex, the iterator right of the vertex is
+      68             :     // chosen, hence accumulated_segment_time_ns > t_start
+      69           0 :     if (accumulated_time > t) {
+      70             :       break;
+      71             :     }
+      72             :   }
+      73           0 :   if (t > accumulated_time) {
+      74           0 :     LOG(ERROR) << "Time out of range of the trajectory!";
+      75           0 :     return Eigen::VectorXd::Zero(D(), 1);
+      76             :   }
+      77             : 
+      78             :   // Make sure we don't go off the end of the segments (can happen if t is
+      79             :   // equal to trajectory max time).
+      80           0 :   if (i >= segments_.size()) {
+      81           0 :     i = segments_.size() - 1;
+      82             :   }
+      83             :   // Go back to the start of this segment.
+      84           0 :   accumulated_time -= segments_[i].getTime();
+      85             : 
+      86           0 :   return segments_[i].evaluate(t - accumulated_time, derivative_order);
+      87             : }
+      88             : 
+      89             : //}
+      90             : 
+      91             : /* evaluateRange() //{ */
+      92             : 
+      93           5 : void Trajectory::evaluateRange(double t_start, double t_end, double dt, int derivative_order, std::vector<Eigen::VectorXd>* result,
+      94             :                                std::vector<double>* sampling_times) const {
+      95           5 :   const size_t expected_number_of_samples = (t_end - t_start) / dt + 1;
+      96             : 
+      97           5 :   result->clear();
+      98           5 :   result->reserve(expected_number_of_samples);
+      99             : 
+     100           5 :   if (sampling_times != nullptr) {
+     101           0 :     sampling_times->clear();
+     102           0 :     sampling_times->reserve(expected_number_of_samples);
+     103             :   }
+     104             : 
+     105           5 :   double accumulated_time = 0.0;
+     106             : 
+     107             :   // Look for the correct segment to start.
+     108           5 :   size_t i = 0;
+     109           5 :   for (i = 0; i < segments_.size(); ++i) {
+     110           5 :     accumulated_time += segments_[i].getTime();
+     111             :     // |<--t_accumulated -->|
+     112             :     // x----------x---------x
+     113             :     //               ^t_start
+     114             :     //            |chosen it|
+     115             :     // in case t_start falls on a vertex, the iterator right of the vertex is
+     116             :     // chosen, hence accumulated_segment_time_ns > t_start
+     117           5 :     if (accumulated_time > t_start) {
+     118             :       break;
+     119             :     }
+     120             :   }
+     121           5 :   if (t_start > accumulated_time) {
+     122           0 :     LOG(ERROR) << "Start time out of range of the trajectory!";
+     123           0 :     return;
+     124             :   }
+     125             : 
+     126             :   // Go back to the start of this segment.
+     127           5 :   accumulated_time -= segments_[i].getTime();
+     128           5 :   double time_in_segment = t_start - accumulated_time;
+     129             : 
+     130             :   // Get all the samples, incrementing the segments as we go.
+     131         205 :   while (accumulated_time < t_end) {
+     132         200 :     if (time_in_segment > segments_[i].getTime()) {
+     133           0 :       time_in_segment = time_in_segment - segments_[i].getTime();
+     134           0 :       i++;
+     135             :       // Make sure we don't access segments that don't exist!
+     136           0 :       if (i >= segments_.size()) {
+     137             :         break;
+     138             :       }
+     139           0 :       continue;
+     140             :     }
+     141             : 
+     142         400 :     result->push_back(segments_[i].evaluate(time_in_segment, derivative_order));
+     143             : 
+     144         200 :     if (sampling_times != nullptr) {
+     145           0 :       sampling_times->push_back(accumulated_time);
+     146             :     }
+     147             : 
+     148         200 :     time_in_segment += dt;
+     149         200 :     accumulated_time += dt;
+     150             :   }
+     151             : }
+     152             : 
+     153             : //}
+     154             : 
+     155             : /* getTrajectoryWithSingleDimension() //{ */
+     156             : 
+     157           0 : Trajectory Trajectory::getTrajectoryWithSingleDimension(int dimension) const {
+     158           0 :   CHECK_LT(dimension, D_);
+     159             : 
+     160             :   // Create a new set of segments with just 1 dimension.
+     161           0 :   Segment::Vector segments;
+     162           0 :   segments.reserve(segments_.size());
+     163             : 
+     164           0 :   for (size_t k = 0; k < segments_.size(); ++k) {
+     165           0 :     Segment segment(N_, 1);
+     166           0 :     segment[0] = (segments_[k])[dimension];
+     167           0 :     segments.push_back(segment);
+     168             :   }
+     169             : 
+     170           0 :   Trajectory traj;
+     171           0 :   traj.setSegments(segments);
+     172           0 :   return traj;
+     173             : }
+     174             : 
+     175             : //}
+     176             : 
+     177             : /* getTrajectoryWithAppendedDimension() //{ */
+     178             : 
+     179           0 : bool Trajectory::getTrajectoryWithAppendedDimension(const Trajectory& trajectory_to_append, Trajectory* new_trajectory) const {
+     180             :   // Handle the case of one of the trajectories being empty.
+     181           0 :   if (N_ == 0 || D_ == 0) {
+     182           0 :     *new_trajectory = trajectory_to_append;
+     183           0 :     return true;
+     184             :   }
+     185           0 :   if (trajectory_to_append.N() == 0 || trajectory_to_append.D() == 0) {
+     186           0 :     *new_trajectory = *this;
+     187           0 :     return true;
+     188             :   }
+     189           0 :   CHECK_EQ(static_cast<int>(segments_.size()), trajectory_to_append.K());
+     190             : 
+     191             :   // Create a new set of segments with all of the dimensions.
+     192           0 :   Segment::Vector segments;
+     193           0 :   segments.reserve(segments_.size());
+     194             : 
+     195           0 :   for (size_t k = 0; k < segments_.size(); ++k) {
+     196           0 :     Segment new_segment(0, 0);
+     197           0 :     if (!segments_[k].getSegmentWithAppendedDimension(trajectory_to_append.segments()[k], &new_segment)) {
+     198           0 :       return false;
+     199             :     }
+     200           0 :     segments.push_back(new_segment);
+     201             :   }
+     202             : 
+     203           0 :   new_trajectory->setSegments(segments);
+     204             :   return true;
+     205             : }
+     206             : 
+     207             : //}
+     208             : 
+     209             : /* computeMinMaxMagnitude() //{ */
+     210             : 
+     211           9 : bool Trajectory::computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum, int seg) const {
+     212             : 
+     213           9 :   CHECK_NOTNULL(minimum);
+     214           9 :   CHECK_NOTNULL(maximum);
+     215             : 
+     216           9 :   minimum->value = std::numeric_limits<double>::max();
+     217           9 :   maximum->value = std::numeric_limits<double>::lowest();
+     218             : 
+     219             :   // Compute candidates.
+     220          18 :   std::vector<Extremum> candidates;
+     221           9 :   if (!segments_[seg].computeMinMaxMagnitudeCandidates(derivative, 0.0, segments_[seg].getTime(), dimensions, &candidates)) {
+     222             :     return false;
+     223             :   }
+     224             :   // Evaluate candidates.
+     225           9 :   Extremum minimum_candidate, maximum_candidate;
+     226           9 :   if (!segments_[seg].selectMinMaxMagnitudeFromCandidates(derivative, 0.0, segments_[seg].getTime(), dimensions, candidates, &minimum_candidate,
+     227             :                                                           &maximum_candidate)) {
+     228             :     return false;
+     229             :   }
+     230             :   // Select minimum / maximum.
+     231           9 :   if (minimum_candidate < *minimum) {
+     232           9 :     *minimum             = minimum_candidate;
+     233           9 :     minimum->segment_idx = static_cast<int>(seg);
+     234             :   }
+     235           9 :   if (maximum_candidate > *maximum) {
+     236           9 :     *maximum             = maximum_candidate;
+     237           9 :     maximum->segment_idx = static_cast<int>(seg);
+     238             :   }
+     239             : 
+     240             :   return true;
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : /* computeMinMaxMagnitude() //{ */
+     246             : 
+     247           9 : bool Trajectory::computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum) const {
+     248             : 
+     249           9 :   CHECK_NOTNULL(minimum);
+     250           9 :   CHECK_NOTNULL(maximum);
+     251             : 
+     252           9 :   minimum->value = std::numeric_limits<double>::max();
+     253           9 :   maximum->value = std::numeric_limits<double>::lowest();
+     254             : 
+     255             :   // For all segments in the trajectory:
+     256          18 :   for (size_t segment_idx = 0; segment_idx < segments_.size(); segment_idx++) {
+     257             : 
+     258             :     // Compute candidates.
+     259          18 :     std::vector<Extremum> candidates;
+     260           9 :     if (!segments_[segment_idx].computeMinMaxMagnitudeCandidates(derivative, 0.0, segments_[segment_idx].getTime(), dimensions, &candidates)) {
+     261           0 :       return false;
+     262             :     }
+     263             :     // Evaluate candidates.
+     264           9 :     Extremum minimum_candidate, maximum_candidate;
+     265           9 :     if (!segments_[segment_idx].selectMinMaxMagnitudeFromCandidates(derivative, 0.0, segments_[segment_idx].getTime(), dimensions, candidates,
+     266             :                                                                     &minimum_candidate, &maximum_candidate)) {
+     267             :       return false;
+     268             :     }
+     269             :     // Select minimum / maximum.
+     270           9 :     if (minimum_candidate < *minimum) {
+     271           9 :       *minimum             = minimum_candidate;
+     272           9 :       minimum->segment_idx = static_cast<int>(segment_idx);
+     273             :     }
+     274           9 :     if (maximum_candidate > *maximum) {
+     275           9 :       *maximum             = maximum_candidate;
+     276           9 :       maximum->segment_idx = static_cast<int>(segment_idx);
+     277             :     }
+     278             :   }
+     279             :   return true;
+     280             : }
+     281             : 
+     282             : //}
+     283             : 
+     284             : /* getSegmentTimes() //{ */
+     285             : 
+     286           1 : std::vector<double> Trajectory::getSegmentTimes() const {
+     287           1 :   std::vector<double> segment_times(segments_.size());
+     288           2 :   for (size_t i = 0; i < segment_times.size(); ++i) {
+     289           1 :     segment_times[i] = segments_[i].getTime();
+     290             :   }
+     291           1 :   return segment_times;
+     292             : }
+     293             : 
+     294             : //}
+     295             : 
+     296             : /* addTrajectories() //{ */
+     297             : 
+     298           0 : bool Trajectory::addTrajectories(const std::vector<Trajectory>& trajectories, Trajectory* merged) const {
+     299           0 :   CHECK_NOTNULL(merged);
+     300           0 :   merged->clear();
+     301           0 :   *merged = *this;
+     302             : 
+     303           0 :   for (const Trajectory& t : trajectories) {
+     304             :     // Check dimensions and coefficients.
+     305             :     // TODO(rikba): Allow different number of coefficients.
+     306           0 :     if (t.D() != D_ || t.N() != N_) {
+     307           0 :       LOG(WARNING) << "Dimension to append: " << t.D() << " this dimension: " << D_;
+     308           0 :       LOG(WARNING) << "Number of coefficients to append: " << t.N() << " this number of coefficients: " << N_;
+     309           0 :       return false;
+     310             :     }
+     311             :     // Add segments.
+     312           0 :     Segment::Vector segments;
+     313           0 :     t.getSegments(&segments);
+     314           0 :     merged->addSegments(segments);
+     315             :   }
+     316             : 
+     317             :   return true;
+     318             : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* offsetTrajectory() //{ */
+     323             : 
+     324           0 : bool Trajectory::offsetTrajectory(const Eigen::VectorXd& A_r_B) {
+     325           0 :   if (A_r_B.size() < std::min(D_, 3)) {
+     326           0 :     LOG(WARNING) << "Offset vector size smaller than trajectory dimension.";
+     327           0 :     return false;
+     328             :   }
+     329             : 
+     330           0 :   for (Segment& s : segments_) {
+     331             :     // Returns false if dimension check fails at segment level.
+     332           0 :     if (!s.offsetSegment(A_r_B))
+     333           0 :       return false;
+     334             :   }
+     335             : 
+     336             :   return true;
+     337             : }
+     338             : 
+     339             : //}
+     340             : 
+     341             : /* offsetTrajectory() //{ */
+     342             : 
+     343           0 : Vertex Trajectory::getVertexAtTime(double t, int max_derivative_order) const {
+     344           0 :   Vertex v(D_);
+     345           0 :   for (int i = 0; i <= max_derivative_order; i++) {
+     346           0 :     v.addConstraint(i, evaluate(t, i));
+     347             :   }
+     348           0 :   return v;
+     349             : }
+     350             : 
+     351             : //}
+     352             : 
+     353             : /* getStartVertex() //{ */
+     354             : 
+     355           0 : Vertex Trajectory::getStartVertex(int max_derivative_order) const {
+     356           0 :   return getVertexAtTime(0.0, max_derivative_order);
+     357             : }
+     358             : 
+     359             : //}
+     360             : 
+     361             : /* getGoalVertex() //{ */
+     362             : 
+     363           0 : Vertex Trajectory::getGoalVertex(int max_derivative_order) const {
+     364           0 :   return getVertexAtTime(max_time_, max_derivative_order);
+     365             : }
+     366             : 
+     367             : //}
+     368             : 
+     369             : /* getVertices() //{ */
+     370             : 
+     371           0 : bool Trajectory::getVertices(int max_derivative_order_pos, int max_derivative_order_yaw, Vertex::Vector* pos_vertices, Vertex::Vector* yaw_vertices) const {
+     372           0 :   CHECK_NOTNULL(pos_vertices);
+     373           0 :   CHECK_NOTNULL(yaw_vertices);
+     374           0 :   const std::vector<size_t> kPosDimensions      = {0, 1, 2};
+     375           0 :   const std::vector<size_t> kYawDimensions      = {3};
+     376           0 :   const int                 kMaxDerivativeOrder = std::max(max_derivative_order_pos, max_derivative_order_yaw);
+     377           0 :   pos_vertices->resize(segments_.size() + 1, Vertex(3));
+     378           0 :   yaw_vertices->resize(segments_.size() + 1, Vertex(1));
+     379             : 
+     380             :   // Start vertex.
+     381           0 :   Vertex temp_vertex(4);
+     382           0 :   temp_vertex = getStartVertex(kMaxDerivativeOrder);
+     383           0 :   if (!temp_vertex.getSubdimension(kPosDimensions, max_derivative_order_pos, &pos_vertices->front()))
+     384             :     return false;
+     385           0 :   if (!temp_vertex.getSubdimension(kYawDimensions, max_derivative_order_yaw, &yaw_vertices->front()))
+     386             :     return false;
+     387             : 
+     388             :   double t = 0.0;
+     389           0 :   for (size_t i = 0; i < segments_.size(); ++i) {
+     390           0 :     t += segments_[i].getTime();
+     391           0 :     temp_vertex = getVertexAtTime(t, kMaxDerivativeOrder);
+     392           0 :     if (!temp_vertex.getSubdimension(kPosDimensions, max_derivative_order_pos, &(*pos_vertices)[i + 1]))
+     393             :       return false;
+     394           0 :     if (!temp_vertex.getSubdimension(kYawDimensions, max_derivative_order_yaw, &(*yaw_vertices)[i + 1]))
+     395             :       return false;
+     396             :   }
+     397             :   return true;
+     398             : }
+     399             : 
+     400             : //}
+     401             : 
+     402             : /* getVertices() //{ */
+     403             : 
+     404           0 : bool Trajectory::getVertices(int max_derivative_order, Vertex::Vector* vertices) const {
+     405           0 :   CHECK_NOTNULL(vertices);
+     406           0 :   vertices->resize(segments_.size() + 1, D_);
+     407           0 :   vertices->front() = getStartVertex(max_derivative_order);
+     408             : 
+     409           0 :   double t = 0.0;
+     410           0 :   for (size_t i = 0; i < segments_.size(); ++i) {
+     411           0 :     t += segments_[i].getTime();
+     412           0 :     (*vertices)[i + 1] = getVertexAtTime(t, max_derivative_order);
+     413             :   }
+     414           0 :   return true;
+     415             : }
+     416             : 
+     417             : //}
+     418             : 
+     419             : /* computeMaxDerivativesHorizontal() //{ */
+     420             : 
+     421             : // compute max velocity, acceleration and jerk
+     422           1 : bool Trajectory::computeMaxDerivativesHorizontal(double* v_max, double* a_max, double* j_max, int seg) const {
+     423             : 
+     424             :   // not counting the heading dimension, that is going to be solved separately
+     425           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     426             : 
+     427           1 :   dimensions.push_back(0);
+     428           1 :   dimensions.push_back(1);
+     429             : 
+     430           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     431             : 
+     432           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     433           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     434           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     435             : 
+     436           1 :   *v_max = v_max_traj.value;
+     437           1 :   *a_max = a_max_traj.value;
+     438           1 :   *j_max = j_max_traj.value;
+     439             : 
+     440           2 :   return success;
+     441             : }
+     442             : 
+     443             : //}
+     444             : 
+     445             : /* computeMaxDerivativesHorizontal() //{ */
+     446             : 
+     447             : // compute max velocity, acceleration and jerk
+     448           1 : bool Trajectory::computeMaxDerivativesHorizontal(double* v_max, double* a_max, double* j_max) const {
+     449             : 
+     450             :   // not counting the heading dimension, that is going to be solved separately
+     451           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     452             : 
+     453           1 :   dimensions.push_back(0);
+     454           1 :   dimensions.push_back(1);
+     455             : 
+     456           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     457             : 
+     458           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     459           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     460           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     461             : 
+     462           1 :   *v_max = v_max_traj.value;
+     463           1 :   *a_max = a_max_traj.value;
+     464           1 :   *j_max = j_max_traj.value;
+     465             : 
+     466           2 :   return success;
+     467             : }
+     468             : 
+     469             : //}
+     470             : 
+     471             : /* computeMaxDerivativesVertical() //{ */
+     472             : 
+     473             : // compute max velocity, acceleration and jerk
+     474           1 : bool Trajectory::computeMaxDerivativesVertical(double* v_max, double* a_max, double* j_max, int seg) const {
+     475             : 
+     476             :   // not counting the heading dimension, that is going to be solved separately
+     477           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     478             : 
+     479           1 :   dimensions.push_back(2);
+     480             : 
+     481           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     482             : 
+     483           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     484           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     485           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     486             : 
+     487           1 :   *v_max = v_max_traj.value;
+     488           1 :   *a_max = a_max_traj.value;
+     489           1 :   *j_max = j_max_traj.value;
+     490             : 
+     491           2 :   return success;
+     492             : }
+     493             : 
+     494             : //}
+     495             : 
+     496             : /* computeMaxDerivativesVertical() //{ */
+     497             : 
+     498             : // compute max velocity, acceleration and jerk
+     499           1 : bool Trajectory::computeMaxDerivativesVertical(double* v_max, double* a_max, double* j_max) const {
+     500             : 
+     501             :   // not counting the heading dimension, that is going to be solved separately
+     502           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     503             : 
+     504           1 :   dimensions.push_back(2);
+     505             : 
+     506           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     507             : 
+     508           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     509           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     510           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     511             : 
+     512           1 :   *v_max = v_max_traj.value;
+     513           1 :   *a_max = a_max_traj.value;
+     514           1 :   *j_max = j_max_traj.value;
+     515             : 
+     516           2 :   return success;
+     517             : }
+     518             : 
+     519             : //}
+     520             : 
+     521             : /* computeMaxDerivativesHeading() //{ */
+     522             : 
+     523             : // compute max velocity, acceleration and jerk
+     524           1 : bool Trajectory::computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max, int seg) const {
+     525             : 
+     526           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     527             : 
+     528           1 :   dimensions.push_back(3);  // 3 = heading
+     529             : 
+     530           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     531             : 
+     532           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     533           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     534           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     535             : 
+     536           1 :   *v_max = v_max_traj.value;
+     537           1 :   *a_max = a_max_traj.value;
+     538           1 :   *j_max = j_max_traj.value;
+     539             : 
+     540           2 :   return success;
+     541             : }
+     542             : 
+     543             : //}
+     544             : 
+     545             : /* computeMaxDerivativesHeading() //{ */
+     546             : 
+     547             : // compute max velocity, acceleration and jerk
+     548           1 : bool Trajectory::computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max) const {
+     549             : 
+     550           1 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     551             : 
+     552           1 :   dimensions.push_back(3);  // 3 = heading
+     553             : 
+     554           1 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     555             : 
+     556           1 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     557           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     558           1 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     559             : 
+     560           1 :   *v_max = v_max_traj.value;
+     561           1 :   *a_max = a_max_traj.value;
+     562           1 :   *j_max = j_max_traj.value;
+     563             : 
+     564           2 :   return success;
+     565             : }
+     566             : 
+     567             : //}
+     568             : 
+     569             : /* scaleSegmentTimes() //{ */
+     570             : 
+     571           0 : bool Trajectory::scaleSegmentTimes(double scaling) {
+     572           0 :   if (scaling < 1.0e-6)
+     573             :     return false;
+     574             : 
+     575             :   // Scale the segment times of each segment.
+     576           0 :   double new_max_time    = 0.0;
+     577           0 :   double scaling_inverse = 1.0 / scaling;
+     578           0 :   for (size_t i = 0; i < segments_.size(); i++) {
+     579           0 :     double new_time = segments_[i].getTime() * scaling;
+     580           0 :     for (int d = 0; d < segments_[i].D(); d++) {
+     581           0 :       (segments_[i])[d].scalePolynomialInTime(scaling_inverse);
+     582             :     }
+     583           0 :     segments_[i].setTime(new_time);
+     584           0 :     new_max_time += new_time;
+     585             :   }
+     586           0 :   max_time_ = new_max_time;
+     587             : 
+     588           0 :   return true;
+     589             : }
+     590             : 
+     591             : //}
+     592             : 
+     593             : /* scaleSegmentTimesToMeetConstraints() //{ */
+     594             : 
+     595             : // This method SCALES the segment times evenly to ensure that the trajectory
+     596             : // is feasible given the provided v_max and a_max. Does not change the shape
+     597             : // of the trajectory, and only *increases* segment times.
+     598           1 : bool Trajectory::scaleSegmentTimesToMeetConstraints(const double v_max_horizontal, const double v_max_vertical, const double a_max_horizontal,
+     599             :                                                     const double a_max_vertical, const double j_max_horizontal, const double j_max_vertical,
+     600             :                                                     const double v_max_heading, const double a_max_heading, const double j_max_heading) {
+     601             : 
+     602             :   // In vast majority of cases, this will converge within 1 iteration.
+     603           1 :   constexpr size_t kMaxCounter = 20;
+     604           1 :   constexpr double kTolerance  = 1e-3;
+     605             : 
+     606           1 :   bool within_range = false;
+     607             : 
+     608           1 :   for (size_t i = 0; i < kMaxCounter; i++) {
+     609             : 
+     610           2 :     for (size_t seg = 0; seg < segments_.size(); seg++) {
+     611             : 
+     612             :       // From Liu, Sikang, et al. "Planning Dynamically Feasible Trajectories for
+     613             :       // Quadrotors Using Safe Flight Corridors in 3-D Complex Environments." IEEE
+     614             :       // Robotics and Automation Letters 2.3 (2017).
+     615           1 :       double v_max_horizontal_actual, a_max_horizontal_actual, j_max_horizontal_actual;
+     616           1 :       computeMaxDerivativesHorizontal(&v_max_horizontal_actual, &a_max_horizontal_actual, &j_max_horizontal_actual, seg);
+     617             : 
+     618           1 :       double v_max_vertical_actual, a_max_vertical_actual, j_max_vertical_actual;
+     619           1 :       computeMaxDerivativesVertical(&v_max_vertical_actual, &a_max_vertical_actual, &j_max_vertical_actual, seg);
+     620             : 
+     621           1 :       double v_max_heading_actual, a_max_heading_actual, j_max_heading_actual;
+     622           1 :       computeMaxDerivativesHeading(&v_max_heading_actual, &a_max_heading_actual, &j_max_heading_actual, seg);
+     623             : 
+     624             :       // Reevaluate constraint/bound violation
+     625           1 :       double velocity_violation_horizontal     = v_max_horizontal_actual / v_max_horizontal;
+     626           1 :       double velocity_violation_vertical       = v_max_vertical_actual / v_max_vertical;
+     627           1 :       double acceleration_violation_horizontal = a_max_horizontal_actual / a_max_horizontal;
+     628           1 :       double acceleration_violation_vertical   = a_max_vertical_actual / a_max_vertical;
+     629           1 :       double jerk_violation_horizontal         = j_max_horizontal_actual / j_max_horizontal;
+     630           1 :       double jerk_violation_vertical           = j_max_vertical_actual / j_max_vertical;
+     631             : 
+     632           1 :       double velocity_violation_heading     = v_max_heading_actual / v_max_heading;
+     633           1 :       double acceleration_violation_heading = a_max_heading_actual / a_max_heading;
+     634           1 :       double jerk_violation_heading         = j_max_heading_actual / j_max_heading;
+     635             : 
+     636           1 :       double velocity_violation     = std::max(std::max(velocity_violation_horizontal, velocity_violation_vertical), velocity_violation_heading);
+     637           1 :       double acceleration_violation = std::max(std::max(acceleration_violation_horizontal, acceleration_violation_vertical), acceleration_violation_heading);
+     638           1 :       double jerk_violation         = std::max(std::max(jerk_violation_horizontal, jerk_violation_vertical), jerk_violation_heading);
+     639             : 
+     640           1 :       within_range = velocity_violation <= 1.0 + kTolerance && acceleration_violation <= 1.0 + kTolerance && jerk_violation <= 1.0 + kTolerance;
+     641             : 
+     642           2 :       double violation_scaling = std::max(1.0, std::max(std::max(velocity_violation, sqrt(acceleration_violation)), cbrt(jerk_violation)));
+     643             : 
+     644             :       // First figure out how to stretch the trajectory in time.
+     645           1 :       double violation_scaling_inverse = 1.0 / violation_scaling;
+     646             : 
+     647             :       // Scale the segment times of each segment.
+     648           1 :       double new_max_time = 0.0;
+     649           1 :       double new_time     = segments_[seg].getTime() * violation_scaling;
+     650             : 
+     651           5 :       for (int d = 0; d < segments_[seg].D(); d++) {
+     652           4 :         (segments_[seg])[d].scalePolynomialInTime(violation_scaling_inverse);
+     653             :       }
+     654             : 
+     655           1 :       segments_[seg].setTime(new_time);
+     656           1 :       new_max_time += new_time;
+     657           1 :       max_time_ = new_max_time;
+     658             :     }
+     659             : 
+     660           1 :     double v_max_horizontal_actual, a_max_horizontal_actual, j_max_horizontal_actual;
+     661           1 :     computeMaxDerivativesHorizontal(&v_max_horizontal_actual, &a_max_horizontal_actual, &j_max_horizontal_actual);
+     662             : 
+     663           1 :     double v_max_vertical_actual, a_max_vertical_actual, j_max_vertical_actual;
+     664           1 :     computeMaxDerivativesVertical(&v_max_vertical_actual, &a_max_vertical_actual, &j_max_vertical_actual);
+     665             : 
+     666           1 :     double v_max_heading_actual, a_max_heading_actual, j_max_heading_actual;
+     667           1 :     computeMaxDerivativesHeading(&v_max_heading_actual, &a_max_heading_actual, &j_max_heading_actual);
+     668             : 
+     669             :     // Reevaluate constraint/bound violation
+     670           1 :     double velocity_violation_horizontal     = v_max_horizontal_actual / v_max_horizontal;
+     671           1 :     double velocity_violation_vertical       = v_max_vertical_actual / v_max_vertical;
+     672           1 :     double acceleration_violation_horizontal = a_max_horizontal_actual / a_max_horizontal;
+     673           1 :     double acceleration_violation_vertical   = a_max_vertical_actual / a_max_vertical;
+     674           1 :     double jerk_violation_horizontal         = j_max_horizontal_actual / j_max_horizontal;
+     675           1 :     double jerk_violation_vertical           = j_max_vertical_actual / j_max_vertical;
+     676             : 
+     677           1 :     double velocity_violation_heading     = v_max_heading_actual / v_max_heading;
+     678           1 :     double acceleration_violation_heading = a_max_heading_actual / a_max_heading;
+     679           1 :     double jerk_violation_heading         = j_max_heading_actual / j_max_heading;
+     680             : 
+     681           1 :     double velocity_violation     = std::max(std::max(velocity_violation_horizontal, velocity_violation_vertical), velocity_violation_heading);
+     682           1 :     double acceleration_violation = std::max(std::max(acceleration_violation_horizontal, acceleration_violation_vertical), acceleration_violation_heading);
+     683           1 :     double jerk_violation         = std::max(std::max(jerk_violation_horizontal, jerk_violation_vertical), jerk_violation_heading);
+     684             : 
+     685           1 :     within_range = velocity_violation <= 1.0 + kTolerance && acceleration_violation <= 1.0 + kTolerance && jerk_violation <= 1.0 + kTolerance;
+     686             : 
+     687           1 :     if (within_range) {
+     688             :       break;
+     689             :     }
+     690             :   }
+     691           1 :   return within_range;
+     692             : }
+     693             : 
+     694             : //}
+     695             : 
+     696             : }  // namespace eth_trajectory_generation
+
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..288e92b4ae2d04242e6c225b8989814f72a4c440 GIT binary patch literal 2544 zcmVZz~W!dw#dwZ$^-B^4sfvaaRh>m464d_APzw~VteYejv|^Y`9oRiBObN# zB1HvIM^W7d3<>4o;@aiT)1m7G#XD<$Lh<$5UbOAu=lj>&8e6wU;IVi#!68dyq-z2A3Lf7g`f-5r zZz6D&hIQ`lIIg|M${chgOdaJfOz}#fca18rH#m3f4Nkb=v!98XF7Vi=$+%B58IyV| z1r!J=WmjP8xq7_5StNF@SO#ou4ZZu&x9wqI>=}?HhF!FHw;p;TO08`$3pQb%*OTdq zHy^|XFzEmjzM@}P^$;W0)DzWM8)FSpdv`PgNK+i!%0YNCNO^%sxFh5{r7R65yelgV zpHFwNEz7jYl#`N*3hQ9>J8wXwlzGypm66PbMPwbOOn#x zJTA;K0WJa27pMI1M3`^N*Gy_Z@CpidiafH5Q_t1;+OtSZT`&&K*LKQPOxYf&7&rIi zYh8*{`t8Vut25z*7R^kkYFN?0nh+L#9OH~fVwG~-qi!}caT0l8TIeTc=^JW857by@ zbyLzkOyhh$hX;1*1RkiE`GkjDl~d?^9Hdq}rYId!?~Y?38HPX@T0<^WCPQNDN`AXp z>US2Y1vQ>NDru=34|5g(pHo#}HMn zG*$GT_7r#7Ff0#2QptWdU%lQTYsTUqWKgE?%~exu;;fWXh?~)LUi3$W4fX!Ga;Y7= zOmN^l;qgeAi+L1VHhMn{d!aN$o%La1&jKnG*NTgi29uA&g^GsBM?RY=0dESV$DQlr zZ zeX8rw^Qd1}jL*T^hDu0a1*bEC0$FVs8!K8_%W(L&7=11`O z@3u+l+nwp-s+I0&g~TX{(MhmRka=i!@zJel6H8C26VY1pRHEjA`gu=`zg3`;V8bls z3APr>VZ1N|FYNico)t8x06eHNg*>BcP)qUrV>Lxs!-5hCZ08hqGa(RFZsH+?u!D%1 zcZG7{h6}Fc!VvJa$Cn+xwFjp5R|4Fz{J1&cTp4oPUi%$o9GLhVJ-K$IT3FIxR5cld8hSkKC{6^hz%{Tm8ZiZ=`eX)J8?mvJRm;kS^v+$jW3Bpo?4K5hZ? znNv6(H5-8*wO)AHae&;`J9`@}lSx4Dj%iC%hZ^qVZN># zKc)*}W%aZGqb>Fb_siod;7g#0c8p))CvS3L0JLQcHvp9l4?!M=6Y98CimNPS_O*1? zKDNZ@4HKlxDe9XY27P}##u`?{`7VaC)S1RN@mrOpbFQD3XRfO${=chSe-cPH`pQE} z)z+zrUF4BYIguB#M(_$u0{e&iahne12Z8IC8#GY-;?=!RQ#Ra()syF8+;bjomv`wKwxP!x z$>X*0;k8GgLDmMmqB}e6R9gk0_Y_uQcmk}58KfNKh)~f_2qRD$=;KA?^g^4Fb3K*r zI7)!CO=1P0HqVTqQ+H6R2Gmnb&(Fwr{WaZC6-RTeqHZ+=D?F(%WubO z*Oc8>Tcdr0)$-ArTgGxUvdOXiAOc4Ybnj(~$#lC&@l8`jaU69#jwui+o;0DG?#>Cl zk}$Id=mxV4JjEmDk2Ilc4KU>|0k-hCP&bHSZRP>sl+=N4=6B6w1`@lW&*g^g)64Ye zy3dc&p6L2$CQiFPy7qR#$Fn(MmGIf7aGTWFjkZFXa}-5)VQqFm)uW+)?jiJCJp{eL z?TxD_YOwO6h!S$H&TTPP>P0pOFU7yQb%A7gYx@PP)U+Hj|Gjq!< zV$NJ7;3(uH5x6XQ&MW|R6vt7= + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory_sampling.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory_sampling.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:296942.0 %
Date:2023-12-06 10:06:33Functions:2728.6 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::sampleSegmentAtTime(eth_trajectory_generation::Segment const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
bool eth_trajectory_generation::sampleFlatStateAtTime<eth_trajectory_generation::Trajectory>(eth_trajectory_generation::Trajectory const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
bool eth_trajectory_generation::sampleFlatStateAtTime<eth_trajectory_generation::Segment>(eth_trajectory_generation::Segment const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
eth_trajectory_generation::sampleTrajectoryAtTime(eth_trajectory_generation::Trajectory const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
eth_trajectory_generation::sampleTrajectoryStartDuration(eth_trajectory_generation::Trajectory const&, double, double, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)0
eth_trajectory_generation::sampleWholeTrajectory(eth_trajectory_generation::Trajectory const&, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)1
eth_trajectory_generation::sampleTrajectoryInRange(eth_trajectory_generation::Trajectory const&, double, double, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)1
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory_sampling.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:296942.0 %
Date:2023-12-06 10:06:33Functions:2728.6 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::sampleSegmentAtTime(eth_trajectory_generation::Segment const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
bool eth_trajectory_generation::sampleFlatStateAtTime<eth_trajectory_generation::Trajectory>(eth_trajectory_generation::Trajectory const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
bool eth_trajectory_generation::sampleFlatStateAtTime<eth_trajectory_generation::Segment>(eth_trajectory_generation::Segment const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
eth_trajectory_generation::sampleWholeTrajectory(eth_trajectory_generation::Trajectory const&, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)1
eth_trajectory_generation::sampleTrajectoryAtTime(eth_trajectory_generation::Trajectory const&, double, eth_mav_msgs::EigenTrajectoryPoint*)0
eth_trajectory_generation::sampleTrajectoryInRange(eth_trajectory_generation::Trajectory const&, double, double, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)1
eth_trajectory_generation::sampleTrajectoryStartDuration(eth_trajectory_generation::Trajectory const&, double, double, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)0
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory_sampling.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:296942.0 %
Date:2023-12-06 10:06:33Functions:2728.6 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/trajectory_sampling.h>
+      22             : 
+      23             : namespace eth_trajectory_generation
+      24             : {
+      25             : 
+      26             : const double kNumNanosecondsPerSecond = 1.e9;
+      27             : 
+      28             : /* sampleTrajectoryAtTime() //{ */
+      29             : 
+      30           0 : bool sampleTrajectoryAtTime(const Trajectory& trajectory, double sample_time, eth_mav_msgs::EigenTrajectoryPoint* state) {
+      31           0 :   CHECK_NOTNULL(state);
+      32           0 :   if (sample_time < trajectory.getMinTime() || sample_time > trajectory.getMaxTime()) {
+      33           0 :     LOG(ERROR) << "Sample time should be within [" << trajectory.getMinTime() << " " << trajectory.getMaxTime() << "] but is " << sample_time;
+      34           0 :     return false;
+      35             :   }
+      36             : 
+      37           0 :   if (trajectory.D() < 3) {
+      38           0 :     LOG(ERROR) << "Dimension has to be at least 3, but is " << trajectory.D();
+      39           0 :     return false;
+      40             :   }
+      41             : 
+      42           0 :   return sampleFlatStateAtTime<Trajectory>(trajectory, sample_time, state);
+      43             : }
+      44             : 
+      45             : //}
+      46             : 
+      47             : /* sampleTrajectoryInRange() //{ */
+      48             : 
+      49           1 : bool sampleTrajectoryInRange(const Trajectory& trajectory, double min_time, double max_time, double sampling_interval,
+      50             :                              eth_mav_msgs::EigenTrajectoryPointVector* states) {
+      51           1 :   CHECK_NOTNULL(states);
+      52           1 :   if (min_time < trajectory.getMinTime() || max_time > trajectory.getMaxTime()) {
+      53           0 :     LOG(ERROR) << "Sample time should be within [" << trajectory.getMinTime() << " " << trajectory.getMaxTime() << "] but is [" << min_time << " " << max_time
+      54           0 :                << "]";
+      55           0 :     return false;
+      56             :   }
+      57             : 
+      58           1 :   if (trajectory.D() < 3) {
+      59           0 :     LOG(ERROR) << "Dimension has to be at least 3, but is " << trajectory.D();
+      60           0 :     return false;
+      61             :   }
+      62             : 
+      63           2 :   std::vector<Eigen::VectorXd> position, velocity, acceleration, jerk, snap, yaw, yaw_rate;
+      64             : 
+      65           1 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::POSITION, &position);
+      66           1 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::VELOCITY, &velocity);
+      67           1 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::ACCELERATION, &acceleration);
+      68           1 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::JERK, &jerk);
+      69           1 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::SNAP, &snap);
+      70             : 
+      71           1 :   size_t n_samples = position.size();
+      72             : 
+      73           1 :   states->resize(n_samples);
+      74          41 :   for (size_t i = 0; i < n_samples; ++i) {
+      75          40 :     eth_mav_msgs::EigenTrajectoryPoint& state = (*states)[i];
+      76             : 
+      77             :     /* state.degrees_of_freedom = eth_mav_msgs::MavActuation::DOF4; */
+      78          40 :     state.position_W         = position[i].head<3>();
+      79          40 :     state.velocity_W         = velocity[i].head<3>();
+      80          40 :     state.acceleration_W     = acceleration[i].head<3>();
+      81          40 :     state.jerk_W             = jerk[i].head<3>();
+      82          40 :     state.snap_W             = snap[i].head<3>();
+      83          40 :     state.time_from_start_ns = static_cast<int64_t>((min_time + sampling_interval * i) * kNumNanosecondsPerSecond);
+      84          40 :     if (trajectory.D() == 4) {
+      85          40 :       state.setFromYaw(position[i](3));
+      86          40 :       state.setFromYawRate(velocity[i](3));
+      87          40 :       state.setFromYawAcc(acceleration[i](3));
+      88             :     }
+      89             :     /* else if (trajectory.D() == 6) { */
+      90             :     /*   // overactuated, write quaternion from interpolated rotation vector */
+      91             :     /*   Eigen::Vector3d rot_vec, rot_vec_vel, rot_vec_acc; */
+      92             :     /*   rot_vec = position[i].tail<3>(); */
+      93             :     /*   rot_vec_vel  = velocity[i].tail<3>(); */
+      94             :     /*   rot_vec_acc  = acceleration[i].tail<3>(); */
+      95             :     /*   Eigen::Matrix3d rot_matrix; */
+      96             :     /*   eth_mav_msgs::matrixFromRotationVector(rot_vec, &rot_matrix); */
+      97             :     /*   state.orientation_W_B = Eigen::Quaterniond(rot_matrix); */
+      98             :     /*   state.angular_velocity_W = eth_mav_msgs::omegaFromRotationVector(rot_vec, rot_vec_vel); */
+      99             :     /*   state.angular_acceleration_W = eth_mav_msgs::omegaDotFromRotationVector(rot_vec, rot_vec_vel, rot_vec_acc); */
+     100             :     /*   state.degrees_of_freedom = eth_mav_msgs::MavActuation::DOF6; */
+     101             :     /* } */
+     102             :   }
+     103           1 :   return true;
+     104             : }
+     105             : 
+     106             : //}
+     107             : 
+     108             : /* sampleTrajectoryStartDuration() //{ */
+     109             : 
+     110           0 : bool sampleTrajectoryStartDuration(const Trajectory& trajectory, double start_time, double duration, double sampling_interval,
+     111             :                                    eth_mav_msgs::EigenTrajectoryPointVector* states) {
+     112           0 :   return sampleTrajectoryInRange(trajectory, start_time, start_time + duration, sampling_interval, states);
+     113             : }
+     114             : 
+     115             : //}
+     116             : 
+     117             : /* sampleWholeTrajectory() //{ */
+     118             : 
+     119           1 : bool sampleWholeTrajectory(const Trajectory& trajectory, double sampling_interval, eth_mav_msgs::EigenTrajectoryPoint::Vector* states) {
+     120           1 :   const double min_time = trajectory.getMinTime();
+     121           1 :   const double max_time = trajectory.getMaxTime();
+     122             : 
+     123           1 :   return sampleTrajectoryInRange(trajectory, min_time, max_time, sampling_interval, states);
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* sampleSegmentAtTime() //{ */
+     129             : 
+     130           0 : bool sampleSegmentAtTime(const Segment& segment, double sample_time, eth_mav_msgs::EigenTrajectoryPoint* state) {
+     131           0 :   CHECK_NOTNULL(state);
+     132           0 :   if (sample_time < 0.0 || sample_time > segment.getTime()) {
+     133           0 :     LOG(ERROR) << "Sample time should be within [" << 0.0 << " " << segment.getTime() << "] but is " << sample_time;
+     134           0 :     return false;
+     135             :   }
+     136             : 
+     137           0 :   return sampleFlatStateAtTime<Segment>(segment, sample_time, state);
+     138             : }
+     139             : 
+     140             : //}
+     141             : 
+     142             : /* sampleFlatStateAtTime() //{ */
+     143             : 
+     144             : template <class T>
+     145           0 : bool sampleFlatStateAtTime(const T& type, double sample_time, eth_mav_msgs::EigenTrajectoryPoint* state) {
+     146           0 :   if (type.D() < 3) {
+     147           0 :     LOG(ERROR) << "Dimension has to be 3, 4, or 6 but is " << type.D();
+     148           0 :     return false;
+     149             :   }
+     150             : 
+     151           0 :   Eigen::VectorXd position     = type.evaluate(sample_time, derivative_order::POSITION);
+     152           0 :   Eigen::VectorXd velocity     = type.evaluate(sample_time, derivative_order::VELOCITY);
+     153           0 :   Eigen::VectorXd acceleration = type.evaluate(sample_time, derivative_order::ACCELERATION);
+     154             : 
+     155             :   /* state->degrees_of_freedom = eth_mav_msgs::MavActuation::DOF4; */
+     156           0 :   state->position_W     = position.head(3);
+     157           0 :   state->velocity_W     = velocity.head(3);
+     158           0 :   state->acceleration_W = acceleration.head(3);
+     159           0 :   state->jerk_W         = type.evaluate(sample_time, derivative_order::JERK).head(3);
+     160           0 :   state->snap_W         = type.evaluate(sample_time, derivative_order::SNAP).head(3);
+     161             : 
+     162           0 :   if (type.D() == 4) {
+     163           0 :     state->setFromYaw(position(3));
+     164           0 :     state->setFromYawRate(velocity(3));
+     165           0 :     state->setFromYawAcc(acceleration(3));
+     166             :   }
+     167             :   /* else if (type.D() == 6) { */
+     168             :   /*   // overactuated, write quaternion from interpolated rotation vector */
+     169             :   /*   Eigen::Vector3d rot_vec, rot_vec_vel, rot_vec_acc; */
+     170             :   /*   rot_vec  = position.tail(3); */
+     171             :   /*   rot_vec_vel = velocity.tail(3); */
+     172             :   /*   rot_vec_acc = acceleration.tail(3); */
+     173             :   /*   Eigen::Matrix3d rot_matrix; */
+     174             :   /*   eth_mav_msgs::matrixFromRotationVector(rot_vec, &rot_matrix); */
+     175             :   /*   state->orientation_W_B = Eigen::Quaterniond(rot_matrix); */
+     176             :   /*   state->angular_velocity_W = eth_mav_msgs::omegaFromRotationVector(rot_vec, rot_vec_vel); */
+     177             :   /*   state->angular_acceleration_W = eth_mav_msgs::omegaDotFromRotationVector(rot_vec, rot_vec_vel, rot_vec_acc); */
+     178             :   /*   state->degrees_of_freedom = eth_mav_msgs::MavActuation::DOF6; */
+     179             :   /* } */
+     180             : 
+     181           0 :   state->time_from_start_ns = static_cast<int64_t>(sample_time * kNumNanosecondsPerSecond);
+     182           0 :   return true;
+     183             : }
+     184             : 
+     185             : //}
+     186             : 
+     187             : }  // namespace eth_trajectory_generation
+
+
+
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - vertex.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10626240.5 %
Date:2023-12-06 10:06:33Functions:61735.3 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::createRandomVertices(int, unsigned long, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, unsigned long)0
eth_trajectory_generation::createSquareVertices(int, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, int)0
eth_trajectory_generation::createRandomVertices1D(int, unsigned long, double, double, unsigned long)0
eth_trajectory_generation::computeTimeVelocityRamp(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)0
eth_trajectory_generation::estimateSegmentTimesVelocityRamp(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double)0
eth_trajectory_generation::Vertex::removeConstraint(int)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Vertex const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&)0
eth_trajectory_generation::Vertex::isEqualTol(eth_trajectory_generation::Vertex const&, double) const0
eth_trajectory_generation::Vertex::hasConstraint(int) const0
eth_trajectory_generation::Vertex::getSubdimension(std::vector<unsigned long, std::allocator<unsigned long> > const&, int, eth_trajectory_generation::Vertex*) const0
eth_trajectory_generation::estimateSegmentTimes(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)1
eth_trajectory_generation::estimateSegmentTimesBaca(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)1
eth_trajectory_generation::estimateSegmentTimesEuclidean(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)1
eth_trajectory_generation::Vertex::makeStartOrEnd(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, int)2
eth_trajectory_generation::Vertex::addConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)14
eth_trajectory_generation::Vertex::getConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1>*) const14
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - vertex.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10626240.5 %
Date:2023-12-06 10:06:33Functions:61735.3 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::createRandomVertices(int, unsigned long, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, unsigned long)0
eth_trajectory_generation::createSquareVertices(int, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, int)0
eth_trajectory_generation::estimateSegmentTimes(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)1
eth_trajectory_generation::createRandomVertices1D(int, unsigned long, double, double, unsigned long)0
eth_trajectory_generation::computeTimeVelocityRamp(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)0
eth_trajectory_generation::estimateSegmentTimesBaca(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)1
eth_trajectory_generation::estimateSegmentTimesEuclidean(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double, double, double, double, double, double)1
eth_trajectory_generation::estimateSegmentTimesVelocityRamp(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, double, double, double)0
eth_trajectory_generation::Vertex::addConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)14
eth_trajectory_generation::Vertex::makeStartOrEnd(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, int)2
eth_trajectory_generation::Vertex::removeConstraint(int)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Vertex const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&)0
eth_trajectory_generation::Vertex::isEqualTol(eth_trajectory_generation::Vertex const&, double) const0
eth_trajectory_generation::Vertex::getConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1>*) const14
eth_trajectory_generation::Vertex::hasConstraint(int) const0
eth_trajectory_generation::Vertex::getSubdimension(std::vector<unsigned long, std::allocator<unsigned long> > const&, int, eth_trajectory_generation::Vertex*) const0
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - vertex.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10626240.5 %
Date:2023-12-06 10:06:33Functions:61735.3 %
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <random>
+      22             : #include <iostream>
+      23             : 
+      24             : #include <eth_trajectory_generation/vertex.h>
+      25             : 
+      26             : #include <mrs_lib/geometry/cyclic.h>
+      27             : 
+      28             : namespace eth_trajectory_generation
+      29             : {
+      30             : 
+      31             : /* createRandomVertices() //{ */
+      32             : 
+      33           0 : Vertex::Vector createRandomVertices(int maximum_derivative, size_t n_segments, const Eigen::VectorXd& pos_min, const Eigen::VectorXd& pos_max, size_t seed) {
+      34           0 :   CHECK_GE(static_cast<int>(n_segments), 1);
+      35           0 :   CHECK_EQ(pos_min.size(), pos_max.size());
+      36           0 :   CHECK_GE((pos_max - pos_min).norm(), 0.2);
+      37           0 :   CHECK_GT(maximum_derivative, 0);
+      38             : 
+      39           0 :   Vertex::Vector                                      vertices;
+      40           0 :   std::mt19937                                        generator(seed);
+      41           0 :   std::vector<std::uniform_real_distribution<double>> distribution;
+      42             : 
+      43           0 :   const size_t dimension = pos_min.size();
+      44             : 
+      45           0 :   distribution.resize(dimension);
+      46             : 
+      47           0 :   for (size_t i = 0; i < dimension; ++i) {
+      48           0 :     distribution[i] = std::uniform_real_distribution<double>(pos_min[i], pos_max[i]);
+      49             :   }
+      50             : 
+      51           0 :   const double min_distance = 0.2;
+      52           0 :   const size_t n_vertices   = n_segments + 1;
+      53             : 
+      54           0 :   Eigen::VectorXd last_pos(dimension);
+      55           0 :   for (size_t i = 0; i < dimension; ++i) {
+      56           0 :     last_pos[i] = distribution[i](generator);
+      57             :   }
+      58             : 
+      59           0 :   vertices.reserve(n_segments + 1);
+      60           0 :   vertices.push_back(Vertex(dimension));
+      61             : 
+      62           0 :   vertices.front().makeStartOrEnd(last_pos, maximum_derivative);
+      63             : 
+      64           0 :   for (size_t i = 1; i < n_vertices; ++i) {
+      65           0 :     Eigen::VectorXd pos(dimension);
+      66             : 
+      67           0 :     while (true) {
+      68           0 :       for (size_t d = 0; d < dimension; ++d) {
+      69           0 :         pos[d] = distribution[d](generator);
+      70             :       }
+      71           0 :       if ((pos - last_pos).norm() > min_distance) {
+      72             :         break;
+      73             :       }
+      74             :     }
+      75             : 
+      76           0 :     Vertex v(dimension);
+      77           0 :     v.addConstraint(derivative_order::POSITION, pos);
+      78           0 :     vertices.push_back(v);
+      79           0 :     last_pos = pos;
+      80             :   }
+      81           0 :   vertices.back().makeStartOrEnd(last_pos, maximum_derivative);
+      82             : 
+      83           0 :   return vertices;
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* createSquareVertices() //{ */
+      89             : 
+      90           0 : Vertex::Vector createSquareVertices(int maximum_derivative, const Eigen::Vector3d& center, double side_length, int rounds) {
+      91           0 :   Vertex::Vector vertices;
+      92           0 :   const size_t   dimension = center.size();
+      93             : 
+      94           0 :   Eigen::Vector3d pos1(center[0] - side_length / 2.0, center[1] - side_length / 2.0, center[2]);
+      95           0 :   Vertex          v1(dimension);
+      96           0 :   v1.addConstraint(derivative_order::POSITION, pos1);
+      97           0 :   Eigen::Vector3d pos2(center[0] - side_length / 2.0, center[1] + side_length / 2.0, center[2]);
+      98           0 :   Vertex          v2(dimension);
+      99           0 :   v2.addConstraint(derivative_order::POSITION, pos2);
+     100           0 :   Eigen::Vector3d pos3(center[0] + side_length / 2.0, center[1] + side_length / 2.0, center[2]);
+     101           0 :   Vertex          v3(dimension);
+     102           0 :   v3.addConstraint(derivative_order::POSITION, pos3);
+     103           0 :   Eigen::Vector3d pos4(center[0] + side_length / 2.0, center[1] - side_length / 2.0, center[2]);
+     104           0 :   Vertex          v4(dimension);
+     105           0 :   v4.addConstraint(derivative_order::POSITION, pos4);
+     106             : 
+     107           0 :   vertices.reserve(4 * rounds);
+     108           0 :   vertices.push_back(v1);
+     109           0 :   vertices.front().makeStartOrEnd(pos1, maximum_derivative);
+     110             : 
+     111           0 :   for (int i = 0; i < rounds; ++i) {
+     112           0 :     vertices.push_back(v2);
+     113           0 :     vertices.push_back(v3);
+     114           0 :     vertices.push_back(v4);
+     115           0 :     vertices.push_back(v1);
+     116             :   }
+     117           0 :   vertices.back().makeStartOrEnd(pos1, maximum_derivative);
+     118             : 
+     119           0 :   return vertices;
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* createRandomVertices1D() //{ */
+     125             : 
+     126           0 : Vertex::Vector createRandomVertices1D(int maximum_derivative, size_t n_segments, double pos_min, double pos_max, size_t seed) {
+     127           0 :   return createRandomVertices(maximum_derivative, n_segments, Eigen::VectorXd::Constant(1, pos_min), Eigen::VectorXd::Constant(1, pos_max), seed);
+     128             : }
+     129             : 
+     130             : //}
+     131             : 
+     132             : /* addConstraint() //{ */
+     133             : 
+     134          14 : void Vertex::addConstraint(int derivative_order, const Eigen::VectorXd& constraint) {
+     135          14 :   CHECK_EQ(constraint.rows(), static_cast<long>(D_));
+     136          14 :   constraints_[derivative_order] = constraint;
+     137          14 : }
+     138             : 
+     139             : //}
+     140             : 
+     141             : /* removeConstraint() //{ */
+     142             : 
+     143           0 : bool Vertex::removeConstraint(int type) {
+     144           0 :   Constraints::const_iterator it = constraints_.find(type);
+     145           0 :   if (it != constraints_.end()) {
+     146           0 :     constraints_.erase(it);
+     147           0 :     return true;
+     148             :   } else {
+     149             :     // Constraint not found.
+     150             :     return false;
+     151             :   }
+     152             : }
+     153             : 
+     154             : //}
+     155             : 
+     156             : /* makeStartOrEnd() //{ */
+     157             : 
+     158           2 : void Vertex::makeStartOrEnd(const Eigen::VectorXd& constraint, int up_to_derivative) {
+     159           2 :   addConstraint(derivative_order::POSITION, constraint);
+     160           6 :   for (int i = 1; i <= up_to_derivative; ++i) {
+     161           4 :     constraints_[i] = ConstraintValue::Zero(static_cast<int>(D_));
+     162             :   }
+     163           2 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* getConstraint() //{ */
+     168             : 
+     169          14 : bool Vertex::getConstraint(int derivative_order, Eigen::VectorXd* value) const {
+     170          14 :   CHECK_NOTNULL(value);
+     171          14 :   typename Constraints::const_iterator it = constraints_.find(derivative_order);
+     172          14 :   if (it != constraints_.end()) {
+     173          11 :     *value = it->second;
+     174          11 :     return true;
+     175             :   } else
+     176             :     return false;
+     177             : }
+     178             : 
+     179             : //}
+     180             : 
+     181             : /* hasConstraint() //{ */
+     182             : 
+     183           0 : bool Vertex::hasConstraint(int derivative_order) const {
+     184           0 :   typename Constraints::const_iterator it = constraints_.find(derivative_order);
+     185           0 :   return it != constraints_.end();
+     186             : }
+     187             : 
+     188             : //}
+     189             : 
+     190             : /* isEqualTol() //{ */
+     191             : 
+     192           0 : bool Vertex::isEqualTol(const Vertex& rhs, double tol) const {
+     193           0 :   if (constraints_.size() != rhs.constraints_.size())
+     194             :     return false;
+     195             :   // loop through lhs constraint map
+     196           0 :   for (typename Constraints::const_iterator it = cBegin(); it != cEnd(); ++it) {
+     197             :     // look for matching key
+     198           0 :     typename Constraints::const_iterator rhs_it = rhs.constraints_.find(it->first);
+     199           0 :     if (rhs_it == rhs.constraints_.end())
+     200           0 :       return false;
+     201             :     // check value
+     202           0 :     if (!((it->second - rhs_it->second).isZero(tol)))
+     203             :       return false;
+     204             :   }
+     205             :   return true;
+     206             : }
+     207             : 
+     208             : //}
+     209             : 
+     210             : /* getSubdimension() //{ */
+     211             : 
+     212           0 : bool Vertex::getSubdimension(const std::vector<size_t>& subdimensions, int max_derivative_order, Vertex* subvertex) const {
+     213           0 :   CHECK_NOTNULL(subvertex);
+     214           0 :   *subvertex = Vertex(subdimensions.size());
+     215             : 
+     216             :   // Check if all subdimensions exist.
+     217           0 :   for (size_t subdimension : subdimensions)
+     218           0 :     if (subdimension >= D_)
+     219           0 :       return false;
+     220             : 
+     221             :   // Copy constraints up to maximum derivative order.
+     222           0 :   for (Constraints::const_iterator it = constraints_.begin(); it != constraints_.end(); ++it) {
+     223           0 :     int derivative_order = it->first;
+     224           0 :     if (derivative_order > max_derivative_order)
+     225           0 :       continue;
+     226           0 :     const ConstraintValue& original_constraint = it->second;
+     227           0 :     ConstraintValue        subsconstraint(subvertex->D());
+     228           0 :     for (size_t i = 0; i < subdimensions.size(); i++) {
+     229           0 :       subsconstraint[i] = original_constraint[subdimensions[i]];
+     230             :     }
+     231           0 :     subvertex->addConstraint(derivative_order, subsconstraint);
+     232             :   }
+     233             :   return true;
+     234             : }
+     235             : 
+     236             : //}
+     237             : 
+     238             : /* operator<<(std::ostream& stream, const Vertex& v) //{ */
+     239             : 
+     240           0 : std::ostream& operator<<(std::ostream& stream, const Vertex& v) {
+     241           0 :   stream << "constraints: " << std::endl;
+     242           0 :   Eigen::IOFormat format(4, 0, ", ", "\n", "[", "]");
+     243           0 :   for (typename Vertex::Constraints::const_iterator it = v.cBegin(); it != v.cEnd(); ++it) {
+     244           0 :     stream << "  type: " << positionDerivativeToString(it->first);
+     245           0 :     stream << "  value: " << it->second.transpose().format(format) << std::endl;
+     246             :   }
+     247           0 :   return stream;
+     248             : }
+     249             : 
+     250             : //}
+     251             : 
+     252             : /* operator<<(std::ostream& stream, const std::vector<Vertex>& vertices) //{ */
+     253             : 
+     254           0 : std::ostream& operator<<(std::ostream& stream, const std::vector<Vertex>& vertices) {
+     255           0 :   for (const Vertex& v : vertices) {
+     256           0 :     stream << v << std::endl;
+     257             :   }
+     258           0 :   return stream;
+     259             : }
+     260             : 
+     261             : //}
+     262             : 
+     263             : /* estimateSegmentTimes() //{ */
+     264             : 
+     265           1 : std::vector<double> estimateSegmentTimes(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     266             :                                          const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal, const double j_max_vertical,
+     267             :                                          const double heading_speed_max, const double heading_acc_max) {
+     268             : 
+     269           1 :   return estimateSegmentTimesEuclidean(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     270           1 :                                        heading_speed_max, heading_acc_max);
+     271             : }
+     272             : 
+     273             : //}
+     274             : 
+     275             : /* estimateSegmentTimesVelocityRamp() //{ */
+     276             : 
+     277           0 : std::vector<double> estimateSegmentTimesVelocityRamp(const Vertex::Vector& vertices, double v_max, double a_max, double time_factor) {
+     278           0 :   CHECK_GE(vertices.size(), 2);
+     279           0 :   std::vector<double> segment_times;
+     280             : 
+     281           0 :   segment_times.reserve(vertices.size() - 1);
+     282             : 
+     283           0 :   constexpr double kMinSegmentTime = 0.1;
+     284             : 
+     285           0 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     286           0 :     Eigen::VectorXd start, end;
+     287           0 :     vertices[i].getConstraint(derivative_order::POSITION, &start);
+     288           0 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end);
+     289           0 :     double t = computeTimeVelocityRamp(start, end, v_max, a_max);
+     290           0 :     t        = std::max(kMinSegmentTime, t);
+     291           0 :     segment_times.push_back(t);
+     292             :   }
+     293             : 
+     294           0 :   return segment_times;
+     295             : }
+     296             : 
+     297             : //}
+     298             : 
+     299             : /* estimateSegmentTimesBaca() //{ */
+     300             : 
+     301           1 : std::vector<double> estimateSegmentTimesBaca(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     302             :                                              const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal,
+     303             :                                              const double j_max_vertical, const double heading_speed_max, const double heading_acc_max) {
+     304             : 
+     305           1 :   CHECK_GE(vertices.size(), 2);
+     306           1 :   std::vector<double> segment_times;
+     307           1 :   segment_times.reserve(vertices.size() - 1);
+     308             : 
+     309             :   // for each vertex in the path
+     310           2 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     311             : 
+     312           2 :     Eigen::VectorXd start4d, end4d;
+     313             : 
+     314           1 :     vertices[i].getConstraint(derivative_order::POSITION, &start4d);
+     315           1 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end4d);
+     316             : 
+     317           1 :     Eigen::Vector3d start     = start4d.head(3);
+     318           1 :     Eigen::Vector3d end       = end4d.head(3);
+     319           1 :     double          start_hdg = start4d(3);
+     320           1 :     double          end_hdg   = end4d(3);
+     321             : 
+     322           1 :     double acceleration_time_1 = 0;
+     323           1 :     double acceleration_time_2 = 0;
+     324             : 
+     325           1 :     double jerk_time_1 = 0;
+     326           1 :     double jerk_time_2 = 0;
+     327             : 
+     328           1 :     double acc_1_coeff = 0;
+     329           1 :     double acc_2_coeff = 0;
+     330             : 
+     331           1 :     double distance = (end - start).norm();
+     332             : 
+     333           1 :     double inclinator = atan2(end(2) - start(2), sqrt(pow(end(0) - start(0), 2) + pow(end(1) - start(1), 2)));
+     334             : 
+     335           1 :     double v_max, a_max, j_max;
+     336             : 
+     337           1 :     if (inclinator > atan2(v_max_vertical, v_max_horizontal) || inclinator < -atan2(v_max_vertical, v_max_horizontal)) {
+     338           0 :       v_max = fabs(v_max_vertical / sin(inclinator));
+     339             :     } else {
+     340           1 :       v_max = fabs(v_max_horizontal / cos(inclinator));
+     341             :     }
+     342             : 
+     343           1 :     if (inclinator > atan2(a_max_vertical, a_max_horizontal) || inclinator < -atan2(a_max_vertical, a_max_horizontal)) {
+     344           0 :       a_max = fabs(a_max_vertical / sin(inclinator));
+     345             :     } else {
+     346           1 :       a_max = fabs(a_max_horizontal / cos(inclinator));
+     347             :     }
+     348             : 
+     349           1 :     if (inclinator > atan2(j_max_vertical, j_max_horizontal) || inclinator < -atan2(j_max_vertical, j_max_horizontal)) {
+     350           0 :       j_max = fabs(j_max_vertical / sin(inclinator));
+     351             :     } else {
+     352           1 :       j_max = fabs(j_max_horizontal / cos(inclinator));
+     353             :     }
+     354             : 
+     355           1 :     if (i >= 1) {
+     356             : 
+     357           0 :       Eigen::VectorXd pre4d;
+     358             : 
+     359           0 :       vertices[i - 1].getConstraint(derivative_order::POSITION, &pre4d);
+     360             : 
+     361           0 :       Eigen::Vector3d pre = pre4d.head(3);
+     362             : 
+     363           0 :       Eigen::Vector3d vec1 = start - pre;
+     364           0 :       Eigen::Vector3d vec2 = end - start;
+     365             : 
+     366           0 :       vec1.normalize();
+     367           0 :       vec2.normalize();
+     368             : 
+     369           0 :       double scalar = vec1.dot(vec2) < 0 ? 0.0 : vec1.dot(vec2);
+     370             : 
+     371           0 :       acc_1_coeff = (1 - scalar);
+     372             : 
+     373           0 :       acceleration_time_1 = acc_1_coeff * ((v_max / a_max) + (a_max / j_max));
+     374             : 
+     375           0 :       jerk_time_1 = acc_1_coeff * (2 * (a_max / j_max));
+     376             :     }
+     377             : 
+     378             :     // the first vertex
+     379           1 :     if (i == 0) {
+     380           1 :       acc_1_coeff         = 1.0;
+     381           1 :       acceleration_time_1 = (v_max / a_max) + (a_max / j_max);
+     382           1 :       jerk_time_1         = (2 * (a_max / j_max));
+     383             :     }
+     384             : 
+     385             :     // last vertex
+     386           1 :     if (i == vertices.size() - 2) {
+     387           1 :       acc_2_coeff         = 1.0;
+     388           1 :       acceleration_time_2 = (v_max / a_max) + (a_max / j_max);
+     389           1 :       jerk_time_2         = (2 * (a_max / j_max));
+     390             :     }
+     391             : 
+     392             :     // a vertex
+     393           1 :     if (i < vertices.size() - 2) {
+     394             : 
+     395           0 :       Eigen::VectorXd post4d;
+     396             : 
+     397           0 :       vertices[i + 2].getConstraint(derivative_order::POSITION, &post4d);
+     398             : 
+     399           0 :       Eigen::Vector3d post = post4d.head(3);
+     400             : 
+     401           0 :       Eigen::Vector3d vec1 = end - start;
+     402           0 :       Eigen::Vector3d vec2 = post - end;
+     403             : 
+     404           0 :       vec1.normalize();
+     405           0 :       vec2.normalize();
+     406             : 
+     407           0 :       double scalar = vec1.dot(vec2) < 0 ? 0.0 : vec1.dot(vec2);
+     408             : 
+     409           0 :       acc_2_coeff = (1 - scalar);
+     410             : 
+     411           0 :       acceleration_time_2 = acc_2_coeff * ((v_max / a_max) + (a_max / j_max));
+     412             : 
+     413           0 :       jerk_time_2 = acc_2_coeff * (2 * (a_max / j_max));
+     414             :     }
+     415             : 
+     416           1 :     if (acceleration_time_1 > sqrt(2 * distance / a_max)) {
+     417           0 :       acceleration_time_1 = sqrt(2 * distance / a_max);
+     418             :     }
+     419             : 
+     420           1 :     if (jerk_time_1 > sqrt(2 * v_max / j_max)) {
+     421           0 :       jerk_time_1 = sqrt(2 * v_max / j_max);
+     422             :     }
+     423             : 
+     424           1 :     if (acceleration_time_2 > sqrt(2 * distance / a_max)) {
+     425           0 :       acceleration_time_2 = sqrt(2 * distance / a_max);
+     426             :     }
+     427             : 
+     428           1 :     if (jerk_time_2 > sqrt(2 * v_max / j_max)) {
+     429           0 :       jerk_time_2 = sqrt(2 * v_max / j_max);
+     430             :     }
+     431             : 
+     432           1 :     double max_velocity_time;
+     433             : 
+     434           1 :     if (((distance - (2 * (v_max * v_max) / a_max)) / v_max) < 0) {
+     435           0 :       max_velocity_time = ((distance) / v_max);
+     436             :     } else {
+     437             :       max_velocity_time = ((distance - (2 * (v_max * v_max) / a_max)) / v_max);
+     438             :     }
+     439             : 
+     440             :     /* double t = max_velocity_time + acceleration_time_1 + acceleration_time_2 + jerk_time_1 + jerk_time_2; */
+     441           1 :     double t = max_velocity_time + acceleration_time_1 + acceleration_time_2;
+     442             : 
+     443             :     /* printf("segment %d, [%.2f %.2f %.2f] - > [%.2f %.2f %.2f] = %.2f\n", i, start(0), start(1), start(2), end(0), end(1), end(2), distance); */
+     444             :     /* printf("segment %d time %.2f, distance %.2f, %.2f, %.2f, %.2f, vmax: %.2f, amax: %.2f, jmax: %.2f\n", i, t, distance, max_velocity_time, */
+     445             :     /*        acceleration_time_1, acceleration_time_2, v_max, a_max, j_max); */
+     446             : 
+     447           1 :     if (t < 0.01) {
+     448           0 :       t = 0.01;
+     449             :     }
+     450             : 
+     451             :     // | ------------- check the heading rotation time ------------ |
+     452             : 
+     453           1 :     double angular_distance = fabs(mrs_lib::geometry::radians::dist(start_hdg, end_hdg));
+     454             : 
+     455           1 :     double hdg_velocity_time     = 0;
+     456           1 :     double hdg_acceleration_time = 0;
+     457             : 
+     458           1 :     if (heading_speed_max < std::numeric_limits<float>::max() && heading_acc_max < std::numeric_limits<float>::max()) {
+     459             : 
+     460           1 :       if (((angular_distance - (2 * (heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max) < 0) {
+     461           0 :         hdg_velocity_time = ((angular_distance) / heading_speed_max);
+     462             :       } else {
+     463             :         hdg_velocity_time = ((angular_distance - (2 * (heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max);
+     464             :       }
+     465             : 
+     466           1 :       if (angular_distance > M_PI / 4) {
+     467           1 :         hdg_acceleration_time = 2 * (heading_speed_max / heading_acc_max);
+     468             :       }
+     469             :     }
+     470             : 
+     471             :     // what will take longer? to fix the lateral or the heading
+     472           1 :     double heading_fix_time = 1.5 * (hdg_velocity_time + hdg_acceleration_time);
+     473             : 
+     474           1 :     if (heading_fix_time > t) {
+     475           0 :       t = heading_fix_time;
+     476             :     }
+     477             : 
+     478           1 :     segment_times.push_back(t);
+     479             :   }
+     480           1 :   return segment_times;
+     481             : }
+     482             : 
+     483             : //}
+     484             : 
+     485             : /* estimateSegmentTimesEuclidean() //{ */
+     486             : 
+     487           1 : std::vector<double> estimateSegmentTimesEuclidean(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     488             :                                                   const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal,
+     489             :                                                   const double j_max_vertical, const double heading_speed_max, const double heading_acc_max) {
+     490             : 
+     491           1 :   double v_max = std::min(v_max_horizontal, v_max_vertical);
+     492             : 
+     493           1 :   CHECK_GE(vertices.size(), 2);
+     494           1 :   std::vector<double> segment_times;
+     495           1 :   segment_times.reserve(vertices.size() - 1);
+     496             : 
+     497             :   // for each vertex in the path
+     498           2 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     499             : 
+     500           2 :     Eigen::VectorXd start4d, end4d;
+     501             : 
+     502           1 :     vertices[i].getConstraint(derivative_order::POSITION, &start4d);
+     503           1 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end4d);
+     504             : 
+     505           1 :     Eigen::Vector3d start = start4d.head(3);
+     506           1 :     Eigen::Vector3d end   = end4d.head(3);
+     507             : 
+     508           1 :     double inclinator = atan2(end(2) - start(2), sqrt(pow(end(0) - start(0), 2) + pow(end(1) - start(1), 2)));
+     509             : 
+     510           1 :     double v_max;
+     511             : 
+     512           1 :     if (inclinator > atan2(v_max_vertical, v_max_horizontal) || inclinator < -atan2(v_max_vertical, v_max_horizontal)) {
+     513           0 :       v_max = fabs(v_max_vertical / sin(inclinator));
+     514             :     } else {
+     515           1 :       v_max = fabs(v_max_horizontal / cos(inclinator));
+     516             :     }
+     517             : 
+     518           1 :     double start_hdg = start4d(3);
+     519           1 :     double end_hdg   = end4d(3);
+     520             : 
+     521           1 :     double distance = (end - start).norm();
+     522             : 
+     523           1 :     double t = distance / v_max;
+     524             : 
+     525           1 :     if (t < 0.01) {
+     526           0 :       t = 0.01;
+     527             :     }
+     528             : 
+     529             :     // | ------------- check the heading rotation time ------------ |
+     530             : 
+     531             : 
+     532           1 :     double angular_distance = fabs(mrs_lib::geometry::radians::dist(start_hdg, end_hdg));
+     533             : 
+     534           1 :     double hdg_velocity_time     = 0;
+     535           1 :     double hdg_acceleration_time = 0;
+     536             : 
+     537           1 :     if (heading_speed_max < std::numeric_limits<float>::max() && heading_acc_max < std::numeric_limits<float>::max()) {
+     538             : 
+     539           1 :       if (((angular_distance - ((heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max) < 0) {
+     540           0 :         hdg_velocity_time = ((angular_distance) / heading_speed_max);
+     541             :       } else {
+     542             :         hdg_velocity_time = ((angular_distance - ((heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max);
+     543             :       }
+     544             : 
+     545           1 :       if (angular_distance > M_PI / 4) {
+     546           1 :         hdg_acceleration_time = 2 * (heading_speed_max / heading_acc_max);
+     547             :       }
+     548             :     }
+     549             : 
+     550             :     // what will take longer? to fix the lateral or the heading
+     551           1 :     double heading_fix_time = 1.5 * (hdg_velocity_time + hdg_acceleration_time);
+     552             : 
+     553           1 :     if (heading_fix_time > t) {
+     554           1 :       t = heading_fix_time;
+     555             :     }
+     556             : 
+     557           1 :     segment_times.push_back(t);
+     558             :   }
+     559             : 
+     560           1 :   return segment_times;
+     561             : }
+     562             : 
+     563             : //}
+     564             : 
+     565             : /* computeTimeVelocityRamp() //{ */
+     566             : 
+     567           0 : double computeTimeVelocityRamp(const Eigen::VectorXd& start, const Eigen::VectorXd& goal, double v_max, double a_max) {
+     568             : 
+     569           0 :   const double distance = (start - goal).norm();
+     570             :   // Time to accelerate or decelerate to or from maximum velocity:
+     571           0 :   const double acc_time = v_max / a_max;
+     572             :   // Distance covered during complete acceleration or decelerate:
+     573           0 :   const double acc_distance = 0.5 * v_max * acc_time;
+     574             :   // Compute total segment time:
+     575           0 :   if (distance < 2.0 * acc_distance) {
+     576             :     // Case 1: Distance too small to accelerate to maximum velocity.
+     577           0 :     return 2.0 * std::sqrt(distance / a_max);
+     578             :   } else {
+     579             :     // Case 2: Distance long enough to accelerate to maximum velocity.
+     580           0 :     return 2.0 * acc_time + (distance - 2.0 * acc_distance) / v_max;
+     581             :   }
+     582             : }
+     583             : 
+     584             : //}
+     585             : 
+     586             : }  // namespace eth_trajectory_generation
+
+
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mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectorySegmentCenterIdxs(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::transformPath(mrs_msgs::Path_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectory(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryAsync(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectoryReference(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, ros::Time const&, double const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::validateTrajectorySpatial(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::optimize[abi:cxx11](std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std_msgs::Header_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> > const&, bool, bool)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()4
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)47
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()47
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::distFromSegment(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)78
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)3727
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackControlManagerDiag(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)4806
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackTrackerCmd(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)32887
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func.html new file mode 100644 index 0000000000..91a2443a75 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:449103443.4 %
Date:2023-12-06 10:06:33Functions:182378.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)47
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::transformPath(mrs_msgs::Path_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectory(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::distFromSegment(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)78
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackTrackerCmd(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)32887
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)3727
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryAsync(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, bool const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectoryReference(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, ros::Time const&, double const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::validateTrajectorySpatial(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackControlManagerDiag(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)4806
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectorySegmentCenterIdxs(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()47
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::optimize[abi:cxx11](std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std_msgs::Header_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> > const&, bool, bool)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()4
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()1
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.frameset.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.frameset.html new file mode 100644 index 0000000000..492e4b05ac --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html new file mode 100644 index 0000000000..88cfe1ab9d --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html @@ -0,0 +1,2416 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:449103443.4 %
Date:2023-12-06 10:06:33Functions:182378.3 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : #include <nodelet/nodelet.h>
+       6             : 
+       7             : #include <mrs_msgs/TrajectoryReferenceSrv.h>
+       8             : #include <mrs_msgs/TrajectoryReference.h>
+       9             : 
+      10             : #include <std_srvs/Trigger.h>
+      11             : 
+      12             : #include <geometry_msgs/Vector3Stamped.h>
+      13             : 
+      14             : #include <mrs_msgs/DynamicsConstraints.h>
+      15             : #include <mrs_msgs/Path.h>
+      16             : #include <mrs_msgs/PathSrv.h>
+      17             : #include <mrs_msgs/GetPathSrv.h>
+      18             : #include <mrs_msgs/TrackerCommand.h>
+      19             : #include <mrs_msgs/MpcPredictionFullState.h>
+      20             : #include <mrs_msgs/Reference.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : 
+      23             : #include <eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h>
+      24             : #include <eth_trajectory_generation/trajectory.h>
+      25             : #include <eth_trajectory_generation/trajectory_sampling.h>
+      26             : 
+      27             : #include <mrs_lib/param_loader.h>
+      28             : #include <mrs_lib/geometry/cyclic.h>
+      29             : #include <mrs_lib/geometry/misc.h>
+      30             : #include <mrs_lib/mutex.h>
+      31             : #include <mrs_lib/batch_visualizer.h>
+      32             : #include <mrs_lib/transformer.h>
+      33             : #include <mrs_lib/utils.h>
+      34             : #include <mrs_lib/scope_timer.h>
+      35             : #include <mrs_lib/attitude_converter.h>
+      36             : #include <mrs_lib/publisher_handler.h>
+      37             : 
+      38             : #include <dynamic_reconfigure/server.h>
+      39             : #include <mrs_uav_trajectory_generation/drsConfig.h>
+      40             : 
+      41             : #include <future>
+      42             : 
+      43             : //}
+      44             : 
+      45             : /* using //{ */
+      46             : 
+      47             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      48             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      49             : using mat3_t = Eigen::Matrix3Xd;
+      50             : 
+      51             : using radians  = mrs_lib::geometry::radians;
+      52             : using sradians = mrs_lib::geometry::sradians;
+      53             : 
+      54             : //}
+      55             : 
+      56             : /* defines //{ */
+      57             : 
+      58             : #define FUTURIZATION_EXEC_TIME_FACTOR 0.5        // [0, 1]
+      59             : #define FUTURIZATION_FIRST_WAYPOINT_FACTOR 0.50  // [0, 1]
+      60             : #define OVERTIME_SAFETY_FACTOR 0.95              // [0, 1]
+      61             : #define OVERTIME_SAFETY_OFFSET 0.01              // [s]
+      62             : #define NLOPT_EXEC_TIME_FACTOR 0.95              // [0, 1]
+      63             : 
+      64             : typedef struct
+      65             : {
+      66             :   Eigen::Vector4d coords;
+      67             :   bool            stop_at;
+      68           9 : } Waypoint_t;
+      69             : 
+      70             : //}
+      71             : 
+      72             : namespace mrs_uav_trajectory_generation
+      73             : {
+      74             : 
+      75             : /* class MrsTrajectoryGeneration //{ */
+      76             : class MrsTrajectoryGeneration : public nodelet::Nodelet {
+      77             : 
+      78             : public:
+      79             :   virtual void onInit();
+      80             : 
+      81             : private:
+      82             :   ros::NodeHandle nh_;
+      83             : 
+      84             :   bool is_initialized_ = false;
+      85             : 
+      86             :   // | ----------------------- parameters ----------------------- |
+      87             : 
+      88             :   double _sampling_dt_;
+      89             : 
+      90             :   double _max_trajectory_len_factor_;
+      91             :   double _min_trajectory_len_factor_;
+      92             : 
+      93             :   int _n_attempts_;
+      94             : 
+      95             :   double _min_waypoint_distance_;
+      96             : 
+      97             :   bool   _fallback_sampling_enabled_;
+      98             :   double _fallback_sampling_speed_factor_;
+      99             :   double _fallback_sampling_accel_factor_;
+     100             :   double _fallback_sampling_stopping_time_;
+     101             :   bool   _fallback_sampling_first_waypoint_additional_stop_;
+     102             : 
+     103             :   std::string _uav_name_;
+     104             : 
+     105             :   bool   _trajectory_max_segment_deviation_enabled_;
+     106             :   double _trajectory_max_segment_deviation_;
+     107             :   int    _trajectory_max_segment_deviation_max_iterations_;
+     108             : 
+     109             :   bool   _path_straightener_enabled_;
+     110             :   double _path_straightener_max_deviation_;
+     111             :   double _path_straightener_max_hdg_deviation_;
+     112             : 
+     113             :   // | -------- variable parameters (come with the path) -------- |
+     114             : 
+     115             :   std::string frame_id_;
+     116             :   bool        fly_now_                              = false;
+     117             :   bool        use_heading_                          = false;
+     118             :   bool        stop_at_waypoints_                    = false;
+     119             :   bool        override_constraints_                 = false;
+     120             :   bool        loop_                                 = false;
+     121             :   double      override_max_velocity_horizontal_     = 0.0;
+     122             :   double      override_max_velocity_vertical_       = 0.0;
+     123             :   double      override_max_acceleration_horizontal_ = 0.0;
+     124             :   double      override_max_acceleration_vertical_   = 0.0;
+     125             :   double      override_max_jerk_horizontal_         = 0.0;
+     126             :   double      override_max_jerk_vertical_           = 0.0;
+     127             : 
+     128             :   // | -------------- variable parameters (deduced) ------------- |
+     129             : 
+     130             :   double     max_execution_time_ = 0;
+     131             :   std::mutex mutex_max_execution_time_;
+     132             : 
+     133             :   bool max_deviation_first_segment_;
+     134             : 
+     135             :   // | -------------------- the transformer  -------------------- |
+     136             : 
+     137             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     138             : 
+     139             :   // | ------------------- scope timer logger ------------------- |
+     140             : 
+     141             :   bool                                       scope_timer_enabled_ = false;
+     142             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     143             : 
+     144             :   // service client for input
+     145             :   bool               callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res);
+     146             :   ros::ServiceServer service_server_path_;
+     147             : 
+     148             :   // service client for returning result to the user
+     149             :   bool               callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res);
+     150             :   ros::ServiceServer service_server_get_path_;
+     151             : 
+     152             :   // subscriber for input
+     153             :   void            callbackPath(const mrs_msgs::PathConstPtr& msg);
+     154             :   ros::Subscriber subscriber_path_;
+     155             : 
+     156             :   void                          callbackConstraints(const mrs_msgs::DynamicsConstraintsConstPtr& msg);
+     157             :   ros::Subscriber               subscriber_constraints_;
+     158             :   bool                          got_constraints_ = false;
+     159             :   mrs_msgs::DynamicsConstraints constraints_;
+     160             :   std::mutex                    mutex_constraints_;
+     161             : 
+     162             :   void                     callbackTrackerCmd(const mrs_msgs::TrackerCommandConstPtr& msg);
+     163             :   ros::Subscriber          subscriber_tracker_cmd_;
+     164             :   bool                     got_tracker_cmd_ = false;
+     165             :   mrs_msgs::TrackerCommand tracker_cmd_;
+     166             :   std::mutex               mutex_tracker_cmd_;
+     167             : 
+     168             :   void                                callbackControlManagerDiag(const mrs_msgs::ControlManagerDiagnosticsConstPtr& msg);
+     169             :   ros::Subscriber                     subscriber_control_manager_diag_;
+     170             :   bool                                got_control_manager_diag_ = false;
+     171             :   mrs_msgs::ControlManagerDiagnostics control_manager_diag_;
+     172             :   std::mutex                          mutex_control_manager_diag_;
+     173             : 
+     174             :   // service client for publishing trajectory out
+     175             :   ros::ServiceClient service_client_trajectory_reference_;
+     176             : 
+     177             :   // solve the whole problem
+     178             :   std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> optimize(const std::vector<Waypoint_t>& waypoints_in, const std_msgs::Header& waypoints_stamp,
+     179             :                                                                         const mrs_msgs::TrackerCommand&         initial_condition,
+     180             :                                                                         const mrs_msgs::MpcPredictionFullState& current_prediction, bool fallback_sampling,
+     181             :                                                                         const bool relax_heading);
+     182             : 
+     183             :   // batch vizualizer
+     184             :   mrs_lib::BatchVisualizer bw_original_;
+     185             :   mrs_lib::BatchVisualizer bw_final_;
+     186             : 
+     187             :   // transforming TrackerCommand
+     188             :   std::optional<mrs_msgs::Path> transformPath(const mrs_msgs::Path& path, const std::string& target_frame);
+     189             : 
+     190             :   // | ------------------ trajectory validation ----------------- |
+     191             : 
+     192             :   /**
+     193             :    * @brief validates samples of a trajectory agains a path of waypoints
+     194             :    *
+     195             :    * @param trajectory
+     196             :    * @param segments
+     197             :    *
+     198             :    * @return <success, traj_fail_idx, path_fail_segment>
+     199             :    */
+     200             :   std::tuple<bool, int, std::vector<bool>, double> validateTrajectorySpatial(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+     201             :                                                                              const std::vector<Waypoint_t>&                    waypoints);
+     202             : 
+     203             :   std::vector<int> getTrajectorySegmentCenterIdxs(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const std::vector<Waypoint_t>& waypoints);
+     204             : 
+     205             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectory(const std::vector<Waypoint_t>&  waypoints,
+     206             :                                                                            const mrs_msgs::TrackerCommand& initial_state, const double& sampling_dt,
+     207             :                                                                            const bool& relax_heading);
+     208             : 
+     209             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector>              findTrajectoryFallback(const std::vector<Waypoint_t>&  waypoints,
+     210             :                                                                                                 const mrs_msgs::TrackerCommand& initial_state, const double& sampling_dt,
+     211             :                                                                                                 const bool& relax_heading);
+     212             :   std::future<std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector>> future_trajectory_result_;
+     213             :   std::atomic<bool>                                                      running_async_planning_ = false;
+     214             : 
+     215             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryAsync(const std::vector<Waypoint_t>&  waypoints,
+     216             :                                                                                 const mrs_msgs::TrackerCommand& initial_state, const double& sampling_dt,
+     217             :                                                                                 const bool& relax_heading);
+     218             : 
+     219             :   std::vector<Waypoint_t> preprocessPath(const std::vector<Waypoint_t>& waypoints_in);
+     220             : 
+     221             :   mrs_msgs::TrajectoryReference getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const ros::Time& stamp,
+     222             :                                                        const double& sampling_dt);
+     223             : 
+     224             :   Waypoint_t interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff);
+     225             : 
+     226             :   bool checkNaN(const Waypoint_t& a);
+     227             : 
+     228             :   double distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2);
+     229             : 
+     230             :   bool trajectorySrv(const mrs_msgs::TrajectoryReference& msg);
+     231             : 
+     232             :   // | --------------- dynamic reconfigure server --------------- |
+     233             : 
+     234             :   boost::recursive_mutex                           mutex_drs_;
+     235             :   typedef mrs_uav_trajectory_generation::drsConfig DrsParams_t;
+     236             :   typedef dynamic_reconfigure::Server<DrsParams_t> Drs_t;
+     237             :   boost::shared_ptr<Drs_t>                         drs_;
+     238             :   void                                             callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, uint32_t level);
+     239             :   DrsParams_t                                      params_;
+     240             :   std::mutex                                       mutex_params_;
+     241             : 
+     242             :   // | ------------ Republisher for the desired path ------------ |
+     243             : 
+     244             :   mrs_lib::PublisherHandler<mrs_msgs::Path> ph_original_path_;
+     245             : 
+     246             :   // | ------------- measuring the time of execution ------------ |
+     247             : 
+     248             :   ros::Time  start_time_total_;
+     249             :   std::mutex mutex_start_time_total_;
+     250             :   bool       overtime(void);
+     251             :   double     timeLeft(void);
+     252             : };
+     253             : 
+     254             : //}
+     255             : 
+     256             : /* onInit() //{ */
+     257             : 
+     258          47 : void MrsTrajectoryGeneration::onInit() {
+     259             : 
+     260             :   /* obtain node handle */
+     261          47 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     262             : 
+     263             :   /* waits for the ROS to publish clock */
+     264          47 :   ros::Time::waitForValid();
+     265             : 
+     266             :   // | ----------------------- publishers ----------------------- |
+     267             : 
+     268         141 :   ph_original_path_ = mrs_lib::PublisherHandler<mrs_msgs::Path>(nh_, "original_path_out", 1);
+     269             : 
+     270             :   // | ----------------------- subscribers ---------------------- |
+     271             : 
+     272          47 :   subscriber_constraints_ = nh_.subscribe("constraints_in", 1, &MrsTrajectoryGeneration::callbackConstraints, this, ros::TransportHints().tcpNoDelay());
+     273          47 :   subscriber_tracker_cmd_ = nh_.subscribe("tracker_cmd_in", 1, &MrsTrajectoryGeneration::callbackTrackerCmd, this, ros::TransportHints().tcpNoDelay());
+     274          47 :   subscriber_control_manager_diag_ =
+     275          94 :       nh_.subscribe("control_manager_diag_in", 1, &MrsTrajectoryGeneration::callbackControlManagerDiag, this, ros::TransportHints().tcpNoDelay());
+     276          47 :   subscriber_path_ = nh_.subscribe("path_in", 1, &MrsTrajectoryGeneration::callbackPath, this, ros::TransportHints().tcpNoDelay());
+     277             : 
+     278             :   // | --------------------- service servers -------------------- |
+     279             : 
+     280          47 :   service_server_path_ = nh_.advertiseService("path_in", &MrsTrajectoryGeneration::callbackPathSrv, this);
+     281             : 
+     282          47 :   service_server_get_path_ = nh_.advertiseService("get_path_in", &MrsTrajectoryGeneration::callbackGetPathSrv, this);
+     283             : 
+     284          94 :   service_client_trajectory_reference_ = nh_.serviceClient<mrs_msgs::TrajectoryReferenceSrv>("trajectory_reference_out");
+     285             : 
+     286             :   // | ----------------------- parameters ----------------------- |
+     287             : 
+     288          47 :   mrs_lib::ParamLoader param_loader(nh_, "MrsTrajectoryGeneration");
+     289             : 
+     290          94 :   std::string custom_config_path;
+     291          47 :   std::string platform_config_path;
+     292             : 
+     293          47 :   param_loader.loadParam("custom_config", custom_config_path);
+     294          47 :   param_loader.loadParam("platform_config", platform_config_path);
+     295             : 
+     296          47 :   if (custom_config_path != "") {
+     297          47 :     param_loader.addYamlFile(custom_config_path);
+     298             :   }
+     299             : 
+     300          47 :   if (platform_config_path != "") {
+     301          47 :     param_loader.addYamlFile(platform_config_path);
+     302             :   }
+     303             : 
+     304          47 :   param_loader.addYamlFileFromParam("private_config");
+     305          47 :   param_loader.addYamlFileFromParam("public_config");
+     306             : 
+     307          94 :   const std::string yaml_prefix = "mrs_uav_trajectory_generation/";
+     308             : 
+     309          47 :   param_loader.loadParam("uav_name", _uav_name_);
+     310             : 
+     311          94 :   param_loader.loadParam(yaml_prefix + "sampling_dt", _sampling_dt_);
+     312             : 
+     313          94 :   param_loader.loadParam(yaml_prefix + "enforce_fallback_solver", params_.enforce_fallback_solver);
+     314             : 
+     315          94 :   param_loader.loadParam(yaml_prefix + "max_trajectory_len_factor", _max_trajectory_len_factor_);
+     316          94 :   param_loader.loadParam(yaml_prefix + "min_trajectory_len_factor", _min_trajectory_len_factor_);
+     317             : 
+     318          94 :   param_loader.loadParam(yaml_prefix + "n_attempts", _n_attempts_);
+     319          94 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/enabled", _fallback_sampling_enabled_);
+     320          94 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/speed_factor", _fallback_sampling_speed_factor_);
+     321          94 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/accel_factor", _fallback_sampling_accel_factor_);
+     322          94 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/stopping_time", _fallback_sampling_stopping_time_);
+     323          94 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/first_waypoint_additional_stop", _fallback_sampling_first_waypoint_additional_stop_);
+     324             : 
+     325          94 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/enabled", _trajectory_max_segment_deviation_enabled_);
+     326          94 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_deviation", _trajectory_max_segment_deviation_);
+     327          94 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_iterations", _trajectory_max_segment_deviation_max_iterations_);
+     328             : 
+     329          94 :   param_loader.loadParam(yaml_prefix + "path_straightener/enabled", _path_straightener_enabled_);
+     330          94 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_deviation", _path_straightener_max_deviation_);
+     331          94 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_hdg_deviation", _path_straightener_max_hdg_deviation_);
+     332             : 
+     333          94 :   param_loader.loadParam(yaml_prefix + "min_waypoint_distance", _min_waypoint_distance_);
+     334             : 
+     335             :   // | --------------------- tf transformer --------------------- |
+     336             : 
+     337          47 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "TrajectoryGeneration");
+     338          47 :   transformer_->setDefaultPrefix(_uav_name_);
+     339          47 :   transformer_->retryLookupNewest(true);
+     340             : 
+     341             :   // | ------------------- scope timer logger ------------------- |
+     342             : 
+     343          94 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     344         141 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     345          47 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     346             : 
+     347             :   // | --------------------- service clients -------------------- |
+     348             : 
+     349          94 :   param_loader.loadParam(yaml_prefix + "time_penalty", params_.time_penalty);
+     350          94 :   param_loader.loadParam(yaml_prefix + "soft_constraints_enabled", params_.soft_constraints_enabled);
+     351          94 :   param_loader.loadParam(yaml_prefix + "soft_constraints_weight", params_.soft_constraints_weight);
+     352          94 :   param_loader.loadParam(yaml_prefix + "time_allocation", params_.time_allocation);
+     353          94 :   param_loader.loadParam(yaml_prefix + "equality_constraint_tolerance", params_.equality_constraint_tolerance);
+     354          94 :   param_loader.loadParam(yaml_prefix + "inequality_constraint_tolerance", params_.inequality_constraint_tolerance);
+     355          94 :   param_loader.loadParam(yaml_prefix + "max_iterations", params_.max_iterations);
+     356          94 :   param_loader.loadParam(yaml_prefix + "derivative_to_optimize", params_.derivative_to_optimize);
+     357             : 
+     358          94 :   param_loader.loadParam(yaml_prefix + "max_time", params_.max_time);
+     359          47 :   max_execution_time_ = params_.max_time;
+     360             : 
+     361          47 :   if (!param_loader.loadedSuccessfully()) {
+     362           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: could not load all parameters!");
+     363           0 :     ros::shutdown();
+     364             :   }
+     365             : 
+     366             :   // | -------------------- batch visualizer -------------------- |
+     367             : 
+     368          94 :   bw_original_ = mrs_lib::BatchVisualizer(nh_, "markers/original", "");
+     369             : 
+     370          47 :   bw_original_.clearBuffers();
+     371          47 :   bw_original_.clearVisuals();
+     372             : 
+     373          47 :   bw_final_ = mrs_lib::BatchVisualizer(nh_, "markers/final", "");
+     374             : 
+     375          47 :   bw_final_.clearBuffers();
+     376          47 :   bw_final_.clearVisuals();
+     377             : 
+     378             :   // | --------------- dynamic reconfigure server --------------- |
+     379             : 
+     380          47 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     381          47 :   drs_->updateConfig(params_);
+     382          94 :   Drs_t::CallbackType f = boost::bind(&MrsTrajectoryGeneration::callbackDrs, this, _1, _2);
+     383          47 :   drs_->setCallback(f);
+     384             : 
+     385             :   // | --------------------- finish the init -------------------- |
+     386             : 
+     387          94 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: initialized");
+     388             : 
+     389          47 :   is_initialized_ = true;
+     390          47 : }
+     391             : 
+     392             : //}
+     393             : 
+     394             : // | ---------------------- main routines --------------------- |
+     395             : 
+     396             : /*
+     397             :  * 1. preprocessPath(): preprocessing the incoming path
+     398             :  *    - throughs away too close waypoints
+     399             :  *    - straightness path by neglecting waypoints close to segments
+     400             :  * 2. optimize(): solves the whole problem including
+     401             :  *    - subdivision for satisfying max deviation
+     402             :  * 3. findTrajectory(): solves single instance by the ETH tool
+     403             :  * 4. findTrajectoryFallback(): Baca's sampling for backup solution
+     404             :  * 5. validateTrajectorySpatial(): checks for the spatial soundness of a trajectory vs. the original path
+     405             :  */
+     406             : 
+     407             : /* preprocessPath() //{ */
+     408             : 
+     409           1 : std::vector<Waypoint_t> MrsTrajectoryGeneration::preprocessPath(const std::vector<Waypoint_t>& waypoints_in) {
+     410             : 
+     411           2 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::preprocessPath", scope_timer_logger_, scope_timer_enabled_);
+     412             : 
+     413           1 :   std::vector<Waypoint_t> waypoints;
+     414             : 
+     415           1 :   size_t last_added_idx = 0;  // in "waypoints_in"
+     416             : 
+     417           3 :   for (size_t i = 0; i < waypoints_in.size(); i++) {
+     418             : 
+     419           2 :     double x       = waypoints_in.at(i).coords[0];
+     420           2 :     double y       = waypoints_in.at(i).coords[1];
+     421           2 :     double z       = waypoints_in.at(i).coords[2];
+     422           2 :     double heading = waypoints_in.at(i).coords[3];
+     423             : 
+     424           2 :     bw_original_.addPoint(vec3_t(x, y, z), 1.0, 0.0, 0.0, 1.0);
+     425             : 
+     426           2 :     if (_path_straightener_enabled_ && waypoints_in.size() >= 3 && i > 0 && i < (waypoints_in.size() - 1)) {
+     427             : 
+     428           0 :       vec3_t first(waypoints_in.at(last_added_idx).coords[0], waypoints_in.at(last_added_idx).coords[1], waypoints_in.at(last_added_idx).coords[2]);
+     429           0 :       vec3_t last(waypoints_in.at(i + 1).coords[0], waypoints_in.at(i + 1).coords[1], waypoints_in.at(i + 1).coords[2]);
+     430             : 
+     431           0 :       double first_hdg = waypoints_in.at(last_added_idx).coords[3];
+     432           0 :       double last_hdg  = waypoints_in.at(i + 1).coords[3];
+     433             : 
+     434           0 :       size_t next_point = last_added_idx + 1;
+     435             : 
+     436           0 :       bool segment_is_ok = true;
+     437             : 
+     438           0 :       for (size_t j = next_point; j < i + 1; j++) {
+     439             : 
+     440           0 :         vec3_t mid(waypoints_in.at(j).coords[0], waypoints_in.at(j).coords[1], waypoints_in.at(j).coords[2]);
+     441           0 :         double mid_hdg = waypoints_in.at(j).coords[3];
+     442             : 
+     443           0 :         double dist_from_segment = distFromSegment(mid, first, last);
+     444             : 
+     445           0 :         if (dist_from_segment > _path_straightener_max_deviation_ || fabs(radians::diff(first_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_) ||
+     446           0 :             fabs(radians::diff(last_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_)) {
+     447           0 :           segment_is_ok = false;
+     448           0 :           break;
+     449             :         }
+     450             :       }
+     451             : 
+     452           0 :       if (segment_is_ok) {
+     453           0 :         continue;
+     454             :       }
+     455             :     }
+     456             : 
+     457           2 :     if (i > 0 && i < (waypoints_in.size() - 1)) {
+     458             : 
+     459           0 :       vec3_t first(waypoints_in.at(last_added_idx).coords[0], waypoints_in.at(last_added_idx).coords[1], waypoints_in.at(last_added_idx).coords[2]);
+     460           0 :       vec3_t last(waypoints_in.at(i).coords[0], waypoints_in.at(i).coords[1], waypoints_in.at(i).coords[2]);
+     461             : 
+     462           0 :       if (mrs_lib::geometry::dist(first, last) < _min_waypoint_distance_) {
+     463           0 :         ROS_INFO("[MrsTrajectoryGeneration]: waypoint #%d too close (< %.3f m) to the previous one (#%d), throwing it away", int(i), _min_waypoint_distance_,
+     464             :                  int(last_added_idx));
+     465           0 :         continue;
+     466             :       }
+     467             :     }
+     468             : 
+     469           2 :     Waypoint_t wp;
+     470           2 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+     471           2 :     wp.stop_at = waypoints_in.at(i).stop_at;
+     472           2 :     waypoints.push_back(wp);
+     473             : 
+     474           2 :     last_added_idx = i;
+     475             :   }
+     476             : 
+     477           1 :   return waypoints;
+     478             : }
+     479             : 
+     480             : //}
+     481             : 
+     482             : /* optimize() //{ */
+     483             : 
+     484           1 : std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> MrsTrajectoryGeneration::optimize(const std::vector<Waypoint_t>&          waypoints_in,
+     485             :                                                                                                const std_msgs::Header&                 waypoints_header,
+     486             :                                                                                                const mrs_msgs::TrackerCommand&         tracker_cmd,
+     487             :                                                                                                const mrs_msgs::MpcPredictionFullState& current_prediction,
+     488             :                                                                                                const bool fallback_sampling, const bool relax_heading) {
+     489             : 
+     490           3 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::optimize", scope_timer_logger_, scope_timer_enabled_);
+     491             : 
+     492           1 :   ros::Time optimize_time_start = ros::Time::now();
+     493             : 
+     494             :   // | ------------- prepare the initial conditions ------------- |
+     495             : 
+     496           2 :   mrs_msgs::TrackerCommand initial_condition;
+     497             : 
+     498           1 :   bool path_from_future = false;
+     499             : 
+     500             :   // positive = in the future
+     501           1 :   double path_time_offset = 0;
+     502             : 
+     503           1 :   if (waypoints_header.stamp != ros::Time(0)) {
+     504           0 :     path_time_offset = (waypoints_header.stamp - ros::Time::now()).toSec();
+     505             :   }
+     506             : 
+     507           1 :   int path_sample_offset = 0;
+     508             : 
+     509             :   // if the desired path starts in the future, more than one MPC step ahead
+     510           1 :   if (path_time_offset > 0.2) {
+     511             : 
+     512           0 :     ROS_INFO("[MrsTrajectoryGeneration]: desired path is from the future by %.2f s", path_time_offset);
+     513             : 
+     514             :     // calculate the offset in samples in the predicted trajectory
+     515             :     // 0.01 is subtracted for the first sample, which is smaller
+     516             :     // +1 is added due to the first sample, which was subtarcted
+     517           0 :     path_sample_offset = int(ceil((path_time_offset * FUTURIZATION_FIRST_WAYPOINT_FACTOR - 0.01) / 0.2)) + 1;
+     518             : 
+     519           0 :     if (path_sample_offset > (int(current_prediction.position.size()) - 1)) {
+     520             : 
+     521           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: can not extrapolate into the waypoints, using tracker_cmd instead");
+     522           0 :       initial_condition = tracker_cmd;
+     523             : 
+     524             :     } else {
+     525             : 
+     526             :       // copy the sample from the current prediction into TrackerCommand, so that we can easily transform it
+     527           0 :       mrs_msgs::TrackerCommand full_state;
+     528             : 
+     529           0 :       full_state.header = current_prediction.header;
+     530             : 
+     531           0 :       full_state.position     = current_prediction.position[path_sample_offset];
+     532           0 :       full_state.velocity     = current_prediction.velocity[path_sample_offset];
+     533           0 :       full_state.acceleration = current_prediction.acceleration[path_sample_offset];
+     534           0 :       full_state.jerk         = current_prediction.jerk[path_sample_offset];
+     535             : 
+     536           0 :       full_state.heading              = current_prediction.heading[path_sample_offset];
+     537           0 :       full_state.heading_rate         = current_prediction.heading_rate[path_sample_offset];
+     538           0 :       full_state.heading_acceleration = current_prediction.heading_acceleration[path_sample_offset];
+     539           0 :       full_state.heading_jerk         = current_prediction.heading_jerk[path_sample_offset];
+     540             : 
+     541           0 :       ROS_INFO("[MrsTrajectoryGeneration]: getting initial condition from the %d-th sample of the MPC prediction", path_sample_offset);
+     542             : 
+     543           0 :       initial_condition.header = full_state.header;
+     544             : 
+     545           0 :       initial_condition.position     = full_state.position;
+     546           0 :       initial_condition.velocity     = full_state.velocity;
+     547           0 :       initial_condition.acceleration = full_state.acceleration;
+     548           0 :       initial_condition.jerk         = full_state.jerk;
+     549             : 
+     550           0 :       initial_condition.heading              = full_state.heading;
+     551           0 :       initial_condition.heading_rate         = full_state.heading_rate;
+     552           0 :       initial_condition.heading_acceleration = full_state.heading_acceleration;
+     553           0 :       initial_condition.heading_jerk         = full_state.heading_jerk;
+     554             : 
+     555           0 :       path_from_future = true;
+     556             :     }
+     557             : 
+     558             :   } else {
+     559             : 
+     560           2 :     ROS_INFO("[MrsTrajectoryGeneration]: desired path is NOT from the future, using tracker_cmd as the initial condition");
+     561             : 
+     562           1 :     initial_condition = tracker_cmd;
+     563             :   }
+     564             : 
+     565           1 :   auto control_manager_diag = mrs_lib::get_mutexed(mutex_control_manager_diag_, control_manager_diag_);
+     566             : 
+     567           1 :   if (waypoints_header.stamp == ros::Time(0)) {
+     568           1 :     if (!control_manager_diag.tracker_status.have_goal) {
+     569           1 :       initial_condition.header.stamp = ros::Time(0);
+     570             :     }
+     571             :   }
+     572             : 
+     573             :   // | ---------------- reset the visual markers ---------------- |
+     574             : 
+     575           1 :   bw_original_.clearBuffers();
+     576           1 :   bw_original_.clearVisuals();
+     577           1 :   bw_final_.clearBuffers();
+     578           1 :   bw_final_.clearVisuals();
+     579             : 
+     580           1 :   bw_original_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     581           1 :   bw_final_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     582             : 
+     583           1 :   bw_original_.setPointsScale(0.4);
+     584           1 :   bw_final_.setPointsScale(0.35);
+     585             : 
+     586             :   // empty path is invalid
+     587           1 :   if (waypoints_in.size() == 0) {
+     588           0 :     std::stringstream ss;
+     589           0 :     ss << "the path is empty (before postprocessing)";
+     590           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     591           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     592             :   }
+     593             : 
+     594           2 :   std::vector<Waypoint_t> waypoints_in_with_init = waypoints_in;
+     595             : 
+     596           1 :   if (path_time_offset > 0.2 && waypoints_in_with_init.size() >= 2) {
+     597           0 :     waypoints_in_with_init.erase(waypoints_in_with_init.begin());
+     598             :   }
+     599             : 
+     600             :   // prepend the initial condition
+     601           1 :   Waypoint_t initial_waypoint;
+     602           1 :   initial_waypoint.coords =
+     603           1 :       Eigen::Vector4d(initial_condition.position.x, initial_condition.position.y, initial_condition.position.z, initial_condition.heading);
+     604           1 :   initial_waypoint.stop_at = false;
+     605           1 :   waypoints_in_with_init.insert(waypoints_in_with_init.begin(), initial_waypoint);
+     606             : 
+     607           2 :   std::vector<Waypoint_t> waypoints = preprocessPath(waypoints_in_with_init);
+     608             : 
+     609           1 :   if (waypoints.size() <= 1) {
+     610           0 :     std::stringstream ss;
+     611           0 :     ss << "the path is empty (after postprocessing)";
+     612           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     613           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     614             :   }
+     615             : 
+     616           1 :   bool              safe = false;
+     617           1 :   int               traj_idx;
+     618           2 :   std::vector<bool> segment_safeness;
+     619           1 :   double            max_deviation;
+     620             : 
+     621           2 :   eth_mav_msgs::EigenTrajectoryPoint::Vector trajectory;
+     622             : 
+     623           1 :   double sampling_dt = 0;
+     624             : 
+     625           1 :   if (path_from_future) {
+     626           0 :     ROS_INFO("[MrsTrajectoryGeneration]: changing dt = 0.2, cause the path is from the future");
+     627           0 :     sampling_dt = 0.2;
+     628             :   } else {
+     629           1 :     sampling_dt = _sampling_dt_;
+     630             :   }
+     631             : 
+     632           1 :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> result;
+     633             : 
+     634           2 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+     635             : 
+     636           1 :   if (params.enforce_fallback_solver) {
+     637           0 :     ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling enforced");
+     638           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     639           1 :   } else if (fallback_sampling) {
+     640           0 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling");
+     641           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     642           1 :   } else if (running_async_planning_) {
+     643           0 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     644           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     645           1 :   } else if (overtime()) {
+     646           0 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, we are running over time");
+     647           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     648             :   } else {
+     649           3 :     result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     650             :   }
+     651             : 
+     652           1 :   if (result) {
+     653           1 :     trajectory = result.value();
+     654             :   } else {
+     655           0 :     std::stringstream ss;
+     656           0 :     ss << "failed to find trajectory";
+     657           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     658           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     659             :   }
+     660             : 
+     661           1 :   for (int k = 0; k < _trajectory_max_segment_deviation_max_iterations_; k++) {
+     662             : 
+     663           2 :     ROS_DEBUG("[MrsTrajectoryGeneration]: revalidation cycle #%d", k);
+     664             : 
+     665           1 :     std::tie(safe, traj_idx, segment_safeness, max_deviation) = validateTrajectorySpatial(trajectory, waypoints);
+     666             : 
+     667           1 :     if (_trajectory_max_segment_deviation_enabled_ && !safe) {
+     668             : 
+     669           0 :       ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory is not safe, max deviation %.3f m", max_deviation);
+     670             : 
+     671           0 :       std::vector<Waypoint_t>::iterator waypoint = waypoints.begin();
+     672           0 :       std::vector<bool>::iterator       safeness = segment_safeness.begin();
+     673             : 
+     674           0 :       for (; waypoint < waypoints.end() - 1; waypoint++) {
+     675             : 
+     676           0 :         if (!(*safeness)) {
+     677             : 
+     678           0 :           if (waypoint > waypoints.begin() || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+     679           0 :             Waypoint_t midpoint2 = interpolatePoint(*waypoint, *(waypoint + 1), 0.5);
+     680           0 :             waypoint             = waypoints.insert(waypoint + 1, midpoint2);
+     681             :           }
+     682             :         }
+     683             : 
+     684           0 :         safeness++;
+     685             :       }
+     686             : 
+     687           0 :       if (params.enforce_fallback_solver) {
+     688           0 :         ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling enforced");
+     689           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     690           0 :       } else if (fallback_sampling) {
+     691           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling");
+     692           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     693           0 :       } else if (running_async_planning_) {
+     694           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     695           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     696           0 :       } else if (overtime()) {
+     697           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, we are running over time");
+     698           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     699             :       } else {
+     700           0 :         result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     701             :       }
+     702             : 
+     703           0 :       if (result) {
+     704           0 :         trajectory = result.value();
+     705             :       } else {
+     706           0 :         std::stringstream ss;
+     707           0 :         ss << "failed to find trajectory";
+     708           0 :         ROS_WARN_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     709           0 :         return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     710             :       }
+     711             : 
+     712             :     } else {
+     713           2 :       ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory is safe (%.2f)", max_deviation);
+     714           1 :       safe = true;
+     715           1 :       break;
+     716             :     }
+     717             :   }
+     718             : 
+     719           2 :   ROS_INFO("[MrsTrajectoryGeneration]: final max trajectory-path deviation: %.2f m, total trajectory time: %.2fs ", max_deviation,
+     720             :            trajectory.size() * sampling_dt);
+     721             : 
+     722             :   // prepare rviz markers
+     723           3 :   for (int i = 0; i < int(waypoints.size()); i++) {
+     724           2 :     bw_final_.addPoint(vec3_t(waypoints.at(i).coords[0], waypoints.at(i).coords[1], waypoints.at(i).coords[2]), 0.0, 1.0, 0.0, 1.0);
+     725             :   }
+     726             : 
+     727           2 :   mrs_msgs::TrajectoryReference mrs_trajectory;
+     728             : 
+     729             :   // convert the optimized trajectory to mrs_msgs::TrajectoryReference
+     730           1 :   mrs_trajectory = getTrajectoryReference(trajectory, initial_condition.header.stamp, sampling_dt);
+     731             : 
+     732             :   // insert part of the MPC prediction in the front of the generated trajectory to compensate for the future
+     733           1 :   if (path_from_future) {
+     734             : 
+     735             :     // calculate the starting idx that we will use from the current_prediction
+     736           0 :     double path_time_offset_2   = (ros::Time::now() - current_prediction.header.stamp).toSec();  // = how long did it take to optimize
+     737           0 :     int    path_sample_offset_2 = int(floor((path_time_offset_2 - 0.01) / 0.2)) + 1;
+     738             : 
+     739             :     // if there is anything to insert
+     740           0 :     if (path_sample_offset > path_sample_offset_2) {
+     741             : 
+     742           0 :       ROS_INFO("[MrsTrajectoryGeneration]: inserting pre-trajectory from the prediction, idxs %d to %d", path_sample_offset_2, path_sample_offset);
+     743             : 
+     744           0 :       for (int i = path_sample_offset - 1; i >= 0; i--) {
+     745             : 
+     746           0 :         ROS_DEBUG("[MrsTrajectoryGeneration]: inserting idx %d", i);
+     747             : 
+     748           0 :         mrs_msgs::ReferenceStamped reference;
+     749             : 
+     750           0 :         reference.header = current_prediction.header;
+     751             : 
+     752           0 :         reference.reference.heading  = current_prediction.heading[i];
+     753           0 :         reference.reference.position = current_prediction.position[i];
+     754             : 
+     755           0 :         auto res = transformer_->transformSingle(reference, waypoints_header.frame_id);
+     756             : 
+     757           0 :         if (res) {
+     758           0 :           reference = res.value();
+     759             :         } else {
+     760           0 :           std::stringstream ss;
+     761           0 :           ss << "could not transform reference to the path frame";
+     762           0 :           ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     763           0 :           return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     764             :         }
+     765             : 
+     766           0 :         mrs_trajectory.points.insert(mrs_trajectory.points.begin(), reference.reference);
+     767             :       }
+     768             :     }
+     769             :   }
+     770             : 
+     771           1 :   bw_original_.publish();
+     772           1 :   bw_final_.publish();
+     773             : 
+     774           2 :   std::stringstream ss;
+     775           1 :   ss << "trajectory generated";
+     776             : 
+     777           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory generated, took %.3f s", (ros::Time::now() - optimize_time_start).toSec());
+     778             : 
+     779           2 :   return std::tuple(true, ss.str(), mrs_trajectory);
+     780             : }
+     781             : 
+     782             : //}
+     783             : 
+     784             : /* findTrajectory() //{ */
+     785             : 
+     786           1 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectory(const std::vector<Waypoint_t>&  waypoints,
+     787             :                                                                                                   const mrs_msgs::TrackerCommand& initial_state,
+     788             :                                                                                                   const double& sampling_dt, const bool& relax_heading) {
+     789             : 
+     790           3 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectory", scope_timer_logger_, scope_timer_enabled_);
+     791             : 
+     792           1 :   mrs_lib::AtomicScopeFlag unset_running(running_async_planning_);
+     793             : 
+     794           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: findTrajectory() started");
+     795             : 
+     796           1 :   ros::Time find_trajectory_time_start = ros::Time::now();
+     797             : 
+     798           2 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+     799           1 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     800             : 
+     801           2 :   auto control_manager_diag = mrs_lib::get_mutexed(mutex_control_manager_diag_, control_manager_diag_);
+     802             : 
+     803           1 :   if ((initial_state.header.stamp - ros::Time::now()).toSec() < 0.2 && control_manager_diag.tracker_status.have_goal) {
+     804           0 :     max_deviation_first_segment_ = false;
+     805             :   } else {
+     806           1 :     max_deviation_first_segment_ = true;
+     807             :   }
+     808             : 
+     809             :   // optimizer
+     810             : 
+     811           1 :   eth_trajectory_generation::NonlinearOptimizationParameters parameters;
+     812             : 
+     813           1 :   parameters.f_rel                  = 0.05;
+     814           1 :   parameters.x_rel                  = 0.1;
+     815           1 :   parameters.time_penalty           = params.time_penalty;
+     816           1 :   parameters.use_soft_constraints   = params.soft_constraints_enabled;
+     817           1 :   parameters.soft_constraint_weight = params.soft_constraints_weight;
+     818           1 :   parameters.time_alloc_method      = static_cast<eth_trajectory_generation::NonlinearOptimizationParameters::TimeAllocMethod>(params.time_allocation);
+     819           1 :   if (params.time_allocation == 2) {
+     820           1 :     parameters.algorithm = nlopt::LD_LBFGS;
+     821             :   }
+     822           1 :   parameters.initial_stepsize_rel            = 0.1;
+     823           1 :   parameters.inequality_constraint_tolerance = params.inequality_constraint_tolerance;
+     824           1 :   parameters.equality_constraint_tolerance   = params.equality_constraint_tolerance;
+     825           1 :   parameters.max_iterations                  = params.max_iterations;
+     826           1 :   parameters.max_time                        = NLOPT_EXEC_TIME_FACTOR * timeLeft();
+     827             : 
+     828           1 :   eth_trajectory_generation::Vertex::Vector vertices;
+     829           1 :   const int                                 dimension = 4;
+     830             : 
+     831           1 :   int derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     832             : 
+     833           1 :   switch (params.derivative_to_optimize) {
+     834             :     case 0: {
+     835             :       derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     836             :       break;
+     837             :     }
+     838           0 :     case 1: {
+     839           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::JERK;
+     840           0 :       break;
+     841             :     }
+     842           0 :     case 2: {
+     843           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::SNAP;
+     844           0 :       break;
+     845             :     }
+     846             :   }
+     847             : 
+     848             :   // | --------------- add constraints to vertices -------------- |
+     849             : 
+     850           1 :   double last_heading = initial_state.heading;
+     851             : 
+     852           3 :   for (size_t i = 0; i < waypoints.size(); i++) {
+     853           2 :     double x       = waypoints.at(i).coords[0];
+     854           2 :     double y       = waypoints.at(i).coords[1];
+     855           2 :     double z       = waypoints.at(i).coords[2];
+     856           2 :     double heading = sradians::unwrap(waypoints.at(i).coords[3], last_heading);
+     857           2 :     last_heading   = heading;
+     858             : 
+     859           4 :     eth_trajectory_generation::Vertex vertex(dimension);
+     860             : 
+     861           2 :     if (i == 0) {
+     862             : 
+     863           2 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     864             : 
+     865           2 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     866             : 
+     867           1 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY,
+     868           1 :                            Eigen::Vector4d(initial_state.velocity.x, initial_state.velocity.y, initial_state.velocity.z, initial_state.heading_rate));
+     869             : 
+     870           1 :       vertex.addConstraint(
+     871             :           eth_trajectory_generation::derivative_order::ACCELERATION,
+     872           1 :           Eigen::Vector4d(initial_state.acceleration.x, initial_state.acceleration.y, initial_state.acceleration.z, initial_state.heading_acceleration));
+     873             : 
+     874           1 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK,
+     875           2 :                            Eigen::Vector4d(initial_state.jerk.x, initial_state.jerk.y, initial_state.jerk.z, initial_state.heading_jerk));
+     876             : 
+     877           1 :     } else if (i == (waypoints.size() - 1)) {  // the last point
+     878             : 
+     879           2 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     880             : 
+     881           2 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     882             : 
+     883             :     } else {  // mid points
+     884             : 
+     885           0 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     886             : 
+     887           0 :       if (waypoints.at(i).stop_at) {
+     888           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY, Eigen::Vector4d(0, 0, 0, 0));
+     889           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::ACCELERATION, Eigen::Vector4d(0, 0, 0, 0));
+     890           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK, Eigen::Vector4d(0, 0, 0, 0));
+     891             :       }
+     892             :     }
+     893             : 
+     894           2 :     vertices.push_back(vertex);
+     895             :   }
+     896             : 
+     897             :   // | ---------------- compute the segment times --------------- |
+     898             : 
+     899           1 :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+     900           1 :   double v_max_vertical, a_max_vertical, j_max_vertical;
+     901             : 
+     902             :   // use the small of the ascending/descending values
+     903           1 :   double vertical_speed_lim        = std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed);
+     904           1 :   double vertical_acceleration_lim = std::min(constraints.vertical_ascending_acceleration, constraints.vertical_descending_acceleration);
+     905             : 
+     906           1 :   if (override_constraints_) {
+     907             : 
+     908           0 :     bool can_change = (hypot(initial_state.velocity.x, initial_state.velocity.y) < override_max_velocity_horizontal_) &&
+     909           0 :                       (hypot(initial_state.acceleration.x, initial_state.acceleration.y) < override_max_acceleration_horizontal_) &&
+     910           0 :                       (hypot(initial_state.jerk.x, initial_state.jerk.y) < override_max_jerk_horizontal_) &&
+     911           0 :                       (fabs(initial_state.velocity.z) < override_max_velocity_vertical_) &&
+     912           0 :                       (fabs(initial_state.acceleration.z) < override_max_acceleration_vertical_) && (fabs(initial_state.jerk.z) < override_max_jerk_vertical_);
+     913             : 
+     914           0 :     if (can_change) {
+     915             : 
+     916           0 :       v_max_horizontal = override_max_velocity_horizontal_;
+     917           0 :       a_max_horizontal = override_max_acceleration_horizontal_;
+     918           0 :       j_max_horizontal = override_max_jerk_horizontal_;
+     919             : 
+     920           0 :       v_max_vertical = override_max_velocity_vertical_;
+     921           0 :       a_max_vertical = override_max_acceleration_vertical_;
+     922           0 :       j_max_vertical = override_max_jerk_vertical_;
+     923             : 
+     924           0 :       ROS_DEBUG("[MrsTrajectoryGeneration]: overriding constraints by a user");
+     925             : 
+     926             :     } else {
+     927             : 
+     928           0 :       ROS_WARN("[MrsTrajectoryGeneration]: overrifing constraints refused due to possible infeasibility");
+     929             :     }
+     930             : 
+     931             :   } else {
+     932             : 
+     933           1 :     v_max_horizontal = constraints.horizontal_speed;
+     934           1 :     a_max_horizontal = constraints.horizontal_acceleration;
+     935             : 
+     936           1 :     v_max_vertical = vertical_speed_lim;
+     937           1 :     a_max_vertical = vertical_acceleration_lim;
+     938             : 
+     939           1 :     j_max_horizontal = constraints.horizontal_jerk;
+     940           1 :     j_max_vertical   = std::min(constraints.vertical_ascending_jerk, constraints.vertical_descending_jerk);
+     941             :   }
+     942             : 
+     943             : 
+     944           1 :   double v_max_heading, a_max_heading, j_max_heading;
+     945             : 
+     946           1 :   if (relax_heading) {
+     947             :     v_max_heading = std::numeric_limits<float>::max();
+     948             :     a_max_heading = std::numeric_limits<float>::max();
+     949             :     j_max_heading = std::numeric_limits<float>::max();
+     950             :   } else {
+     951           1 :     v_max_heading = constraints.heading_speed;
+     952           1 :     a_max_heading = constraints.heading_acceleration;
+     953           1 :     j_max_heading = constraints.heading_jerk;
+     954             :   }
+     955             : 
+     956           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: using constraints:");
+     957           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+     958           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+     959           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+     960             : 
+     961           3 :   std::vector<double> segment_times, segment_times_baca;
+     962           1 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     963           1 :                                        v_max_heading, a_max_heading);
+     964           1 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     965           1 :                                                 v_max_heading, a_max_heading);
+     966             : 
+     967           1 :   double initial_total_time      = 0;
+     968           1 :   double initial_total_time_baca = 0;
+     969           2 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+     970           1 :     initial_total_time += segment_times[i];
+     971           1 :     initial_total_time_baca += segment_times_baca[i];
+     972             :   }
+     973             : 
+     974           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: initial total time (Euclidean): %.2f", initial_total_time);
+     975           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: initial total time (Baca): %.2f", initial_total_time_baca);
+     976             : 
+     977             :   // | --------- create an optimizer object and solve it -------- |
+     978             : 
+     979           1 :   const int                                                     N = 10;
+     980           2 :   eth_trajectory_generation::PolynomialOptimizationNonLinear<N> opt(dimension, parameters);
+     981           1 :   opt.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+     982             : 
+     983           1 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+     984           1 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+     985           1 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+     986             : 
+     987           1 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+     988           1 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+     989           1 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+     990             : 
+     991           1 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::VELOCITY, v_max_vertical);
+     992           1 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_vertical);
+     993           1 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::JERK, j_max_vertical);
+     994             : 
+     995           1 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::VELOCITY, v_max_heading);
+     996           1 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_heading);
+     997           1 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::JERK, j_max_heading);
+     998             : 
+     999           1 :   opt.optimize();
+    1000             : 
+    1001           1 :   if (overtime()) {
+    1002           0 :     return {};
+    1003             :   }
+    1004             : 
+    1005           2 :   std::string result_str;
+    1006             : 
+    1007           2 :   switch (opt.getOptimizationInfo().stopping_reason) {
+    1008           0 :     case nlopt::FAILURE: {
+    1009           0 :       result_str = "generic failure";
+    1010             :       break;
+    1011             :     }
+    1012           0 :     case nlopt::INVALID_ARGS: {
+    1013           0 :       result_str = "invalid args";
+    1014             :       break;
+    1015             :     }
+    1016           0 :     case nlopt::OUT_OF_MEMORY: {
+    1017           0 :       result_str = "out of memory";
+    1018             :       break;
+    1019             :     }
+    1020           0 :     case nlopt::ROUNDOFF_LIMITED: {
+    1021           0 :       result_str = "roundoff limited";
+    1022             :       break;
+    1023             :     }
+    1024           0 :     case nlopt::FORCED_STOP: {
+    1025           0 :       result_str = "forced stop";
+    1026             :       break;
+    1027             :     }
+    1028           0 :     case nlopt::STOPVAL_REACHED: {
+    1029           0 :       result_str = "stopval reached";
+    1030             :       break;
+    1031             :     }
+    1032           0 :     case nlopt::FTOL_REACHED: {
+    1033           0 :       result_str = "ftol reached";
+    1034             :       break;
+    1035             :     }
+    1036           0 :     case nlopt::XTOL_REACHED: {
+    1037           0 :       result_str = "xtol reached";
+    1038             :       break;
+    1039             :     }
+    1040           0 :     case nlopt::MAXEVAL_REACHED: {
+    1041           0 :       result_str = "maxeval reached";
+    1042             :       break;
+    1043             :     }
+    1044           0 :     case nlopt::MAXTIME_REACHED: {
+    1045           0 :       result_str = "maxtime reached";
+    1046             :       break;
+    1047             :     }
+    1048           1 :     default: {
+    1049           1 :       result_str = "UNKNOWN FAILURE CODE";
+    1050             :       break;
+    1051             :     }
+    1052             :   }
+    1053             : 
+    1054           4 :   if (opt.getOptimizationInfo().stopping_reason >= 1 && opt.getOptimizationInfo().stopping_reason != 6) {
+    1055           2 :     ROS_DEBUG("[MrsTrajectoryGeneration]: optimization finished successfully with code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1056             :               result_str.c_str());
+    1057             : 
+    1058           0 :   } else if (opt.getOptimizationInfo().stopping_reason == -1) {
+    1059           0 :     ROS_DEBUG("[MrsTrajectoryGeneration]: optimization finished with a generic error code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1060             :               result_str.c_str());
+    1061             : 
+    1062             :   } else {
+    1063           0 :     ROS_WARN("[MrsTrajectoryGeneration]: optimization failed with code %d, '%s', took %.3f s", opt.getOptimizationInfo().stopping_reason, result_str.c_str(),
+    1064             :              (ros::Time::now() - find_trajectory_time_start).toSec());
+    1065           1 :     return {};
+    1066             :   }
+    1067             : 
+    1068             :   // | ------------- obtain the polynomial segments ------------- |
+    1069             : 
+    1070           1 :   eth_trajectory_generation::Segment::Vector segments;
+    1071           1 :   opt.getPolynomialOptimizationRef().getSegments(&segments);
+    1072             : 
+    1073           1 :   if (overtime()) {
+    1074           0 :     return {};
+    1075             :   }
+    1076             : 
+    1077             :   // | --------------- create the trajectory class -------------- |
+    1078             : 
+    1079           2 :   eth_trajectory_generation::Trajectory trajectory;
+    1080           1 :   opt.getTrajectory(&trajectory);
+    1081             : 
+    1082           2 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1083             : 
+    1084           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: starting eth sampling with dt = %.2f s ", sampling_dt);
+    1085             : 
+    1086           1 :   bool success = eth_trajectory_generation::sampleWholeTrajectory(trajectory, sampling_dt, &states);
+    1087             : 
+    1088           1 :   if (overtime()) {
+    1089           0 :     return {};
+    1090             :   }
+    1091             : 
+    1092             :   // validate the temporal sampling of the trajectory
+    1093             : 
+    1094             :   // only check this if the trajectory is > 1.0 sec, this check does not make much sense for the short ones
+    1095           1 :   if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) > (_max_trajectory_len_factor_ * initial_total_time_baca)) {
+    1096           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: the final trajectory sampling is too long = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1097             :               (states.size() * sampling_dt), initial_total_time_baca, _max_trajectory_len_factor_);
+    1098             : 
+    1099           0 :     std::stringstream ss;
+    1100           0 :     ss << "trajectory sampling failed";
+    1101           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    1102           0 :     return {};
+    1103             : 
+    1104           1 :   } else if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) < (_min_trajectory_len_factor_ * initial_total_time_baca)) {
+    1105           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: the final trajectory sampling is too short = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1106             :               (states.size() * sampling_dt), initial_total_time_baca, _min_trajectory_len_factor_);
+    1107             : 
+    1108           0 :     std::stringstream ss;
+    1109           0 :     ss << "trajectory sampling failed";
+    1110           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    1111           0 :     return {};
+    1112             : 
+    1113             :   } else {
+    1114           2 :     ROS_DEBUG("[MrsTrajectoryGeneration]: estimated/final trajectory length ratio (final/estimated) %.2f",
+    1115             :               (states.size() * sampling_dt) / initial_total_time_baca);
+    1116             :   }
+    1117             : 
+    1118           1 :   if (success) {
+    1119           2 :     ROS_DEBUG("[MrsTrajectoryGeneration]: eth sampling finished, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1120           1 :     return std::optional(states);
+    1121             : 
+    1122             :   } else {
+    1123           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: eth could not sample the trajectory, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1124           1 :     return {};
+    1125             :   }
+    1126             : }
+    1127             : 
+    1128             : //}
+    1129             : 
+    1130             : /* findTrajectoryFallback() //{ */
+    1131             : 
+    1132           0 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryFallback(const std::vector<Waypoint_t>&  waypoints,
+    1133             :                                                                                                           const mrs_msgs::TrackerCommand& initial_state,
+    1134             :                                                                                                           const double&                   sampling_dt,
+    1135             :                                                                                                           const bool&                     relax_heading) {
+    1136             : 
+    1137           0 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectoryFallback", scope_timer_logger_, scope_timer_enabled_);
+    1138             : 
+    1139           0 :   ros::Time time_start = ros::Time::now();
+    1140             : 
+    1141           0 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling started");
+    1142             : 
+    1143           0 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+    1144           0 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1145             : 
+    1146           0 :   eth_trajectory_generation::Vertex::Vector vertices;
+    1147           0 :   const int                                 dimension = 4;
+    1148             : 
+    1149             :   // | --------------- add constraints to vertices -------------- |
+    1150             : 
+    1151           0 :   double last_heading = initial_state.heading;
+    1152             : 
+    1153           0 :   for (size_t i = 0; i < waypoints.size(); i++) {
+    1154             : 
+    1155           0 :     double x       = waypoints.at(i).coords[0];
+    1156           0 :     double y       = waypoints.at(i).coords[1];
+    1157           0 :     double z       = waypoints.at(i).coords[2];
+    1158           0 :     double heading = sradians::unwrap(waypoints.at(i).coords[3], last_heading);
+    1159           0 :     last_heading   = heading;
+    1160             : 
+    1161           0 :     eth_trajectory_generation::Vertex vertex(dimension);
+    1162             : 
+    1163           0 :     vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+    1164             : 
+    1165           0 :     vertices.push_back(vertex);
+    1166             :   }
+    1167             : 
+    1168             :   // | ---------------- compute the segment times --------------- |
+    1169             : 
+    1170           0 :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+    1171           0 :   double v_max_vertical, a_max_vertical, j_max_vertical;
+    1172             : 
+    1173             :   // use the small of the ascending/descending values
+    1174           0 :   double vertical_speed_lim        = std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed);
+    1175           0 :   double vertical_acceleration_lim = std::min(constraints.vertical_ascending_acceleration, constraints.vertical_descending_acceleration);
+    1176             : 
+    1177           0 :   if (override_constraints_) {
+    1178             : 
+    1179           0 :     v_max_horizontal = override_max_velocity_horizontal_;
+    1180           0 :     a_max_horizontal = override_max_acceleration_horizontal_;
+    1181           0 :     j_max_horizontal = override_max_jerk_horizontal_;
+    1182             : 
+    1183           0 :     v_max_vertical = override_max_velocity_vertical_;
+    1184           0 :     a_max_vertical = override_max_acceleration_vertical_;
+    1185           0 :     j_max_vertical = override_max_jerk_vertical_;
+    1186             : 
+    1187           0 :     ROS_DEBUG("[MrsTrajectoryGeneration]: overriding constraints by a user");
+    1188             :   } else {
+    1189             : 
+    1190           0 :     v_max_horizontal = constraints.horizontal_speed;
+    1191           0 :     a_max_horizontal = constraints.horizontal_acceleration;
+    1192             : 
+    1193           0 :     v_max_vertical = vertical_speed_lim;
+    1194           0 :     a_max_vertical = vertical_acceleration_lim;
+    1195             : 
+    1196           0 :     j_max_horizontal = constraints.horizontal_jerk;
+    1197           0 :     j_max_vertical   = std::min(constraints.vertical_ascending_jerk, constraints.vertical_descending_jerk);
+    1198             :   }
+    1199             : 
+    1200             : 
+    1201           0 :   double v_max_heading, a_max_heading, j_max_heading;
+    1202             : 
+    1203           0 :   if (relax_heading) {
+    1204             :     v_max_heading = std::numeric_limits<float>::max();
+    1205             :     a_max_heading = std::numeric_limits<float>::max();
+    1206             :     j_max_heading = std::numeric_limits<float>::max();
+    1207             :   } else {
+    1208           0 :     v_max_heading = constraints.heading_speed;
+    1209           0 :     a_max_heading = constraints.heading_acceleration;
+    1210           0 :     j_max_heading = constraints.heading_jerk;
+    1211             :   }
+    1212             : 
+    1213           0 :   v_max_horizontal *= _fallback_sampling_speed_factor_;
+    1214           0 :   v_max_vertical *= _fallback_sampling_speed_factor_;
+    1215             : 
+    1216           0 :   a_max_horizontal *= _fallback_sampling_accel_factor_;
+    1217           0 :   a_max_vertical *= _fallback_sampling_accel_factor_;
+    1218             : 
+    1219           0 :   ROS_DEBUG("[MrsTrajectoryGeneration]: using constraints:");
+    1220           0 :   ROS_DEBUG("[MrsTrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1221           0 :   ROS_DEBUG("[MrsTrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1222           0 :   ROS_DEBUG("[MrsTrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1223             : 
+    1224           0 :   std::vector<double> segment_times, segment_times_baca;
+    1225           0 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1226           0 :                                        v_max_heading, a_max_heading);
+    1227           0 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1228           0 :                                                 v_max_heading, a_max_heading);
+    1229             : 
+    1230           0 :   double initial_total_time      = 0;
+    1231           0 :   double initial_total_time_baca = 0;
+    1232           0 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1233           0 :     initial_total_time += segment_times[i];
+    1234           0 :     initial_total_time_baca += segment_times_baca[i];
+    1235             :   }
+    1236             : 
+    1237           0 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: initial total time (Euclidean): %.2f", initial_total_time);
+    1238           0 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: initial total time (Baca): %.2f", initial_total_time_baca);
+    1239             : 
+    1240             :   // | --------- create an optimizer object and solve it -------- |
+    1241             : 
+    1242           0 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1243             : 
+    1244             :   // interpolate each segment
+    1245           0 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1246             : 
+    1247           0 :     Eigen::VectorXd start, end;
+    1248             : 
+    1249           0 :     const double segment_time = segment_times_baca[i];
+    1250             : 
+    1251           0 :     int    n_samples;
+    1252           0 :     double interp_step;
+    1253             : 
+    1254           0 :     if (segment_time > 1e-1) {
+    1255             : 
+    1256           0 :       n_samples = floor(segment_time / sampling_dt);
+    1257             : 
+    1258             :       // important
+    1259           0 :       if (n_samples > 0) {
+    1260           0 :         interp_step = 1.0 / double(n_samples);
+    1261             :       } else {
+    1262             :         interp_step = 0.5;
+    1263             :       }
+    1264             : 
+    1265             :     } else {
+    1266             :       n_samples   = 0;
+    1267             :       interp_step = 0;
+    1268             :     }
+    1269             : 
+    1270             :     // for the last segment, git the last waypoint completely
+    1271             :     // otherwise, it is hit as the first sample of the following segment
+    1272           0 :     if (n_samples > 0 && i == waypoints.size() - 2) {
+    1273           0 :       n_samples++;
+    1274             :     }
+    1275             : 
+    1276           0 :     for (int j = 0; j < n_samples; j++) {
+    1277             : 
+    1278           0 :       Waypoint_t point = interpolatePoint(waypoints[i], waypoints[i + 1], j * interp_step);
+    1279             : 
+    1280           0 :       eth_mav_msgs::EigenTrajectoryPoint eth_point;
+    1281           0 :       eth_point.position_W[0] = point.coords[0];
+    1282           0 :       eth_point.position_W[1] = point.coords[1];
+    1283           0 :       eth_point.position_W[2] = point.coords[2];
+    1284           0 :       eth_point.setFromYaw(point.coords[3]);
+    1285             : 
+    1286           0 :       states.push_back(eth_point);
+    1287             : 
+    1288           0 :       auto control_manager_diag = mrs_lib::get_mutexed(mutex_control_manager_diag_, control_manager_diag_);
+    1289             : 
+    1290             :       // the first sample of the first waypoint
+    1291             :       // we should stop for a little bit to give the transition
+    1292             :       // from the initial cooordinates more time
+    1293           0 :       if (((control_manager_diag.tracker_status.have_goal && i == 0) || (!control_manager_diag.tracker_status.have_goal && i == 1)) && j == 0) {
+    1294             : 
+    1295           0 :         double time_to_stop = 0;
+    1296             : 
+    1297           0 :         time_to_stop += fabs(initial_state.acceleration.x) / j_max_horizontal + fabs(initial_state.acceleration.y) / j_max_horizontal +
+    1298           0 :                         fabs(initial_state.acceleration.z) / j_max_vertical;
+    1299             : 
+    1300           0 :         int samples_to_stop = int(round(1.0 * (time_to_stop / sampling_dt)));
+    1301             : 
+    1302           0 :         if (_fallback_sampling_first_waypoint_additional_stop_) {
+    1303           0 :           if (control_manager_diag.tracker_status.have_goal) {
+    1304           0 :             samples_to_stop += int(round(1.0 / sampling_dt));
+    1305             :           }
+    1306             :         }
+    1307             : 
+    1308           0 :         ROS_DEBUG("[MrsTrajectoryGeneration]: pre-inserting %d samples of the first point", samples_to_stop);
+    1309             : 
+    1310           0 :         for (int k = 0; k < samples_to_stop; k++) {
+    1311           0 :           states.push_back(eth_point);
+    1312             :         }
+    1313             :       }
+    1314             : 
+    1315           0 :       if (j == 0 && i > 0 && waypoints[i].stop_at) {
+    1316             : 
+    1317           0 :         int insert_samples = int(round(_fallback_sampling_stopping_time_ / sampling_dt));
+    1318             : 
+    1319           0 :         for (int k = 0; k < insert_samples; k++) {
+    1320           0 :           states.push_back(eth_point);
+    1321             :         }
+    1322             :       }
+    1323             :     }
+    1324             :   }
+    1325             : 
+    1326           0 :   bool success = true;
+    1327             : 
+    1328           0 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: sampling finished, took %.3f s", (ros::Time::now() - time_start).toSec());
+    1329             : 
+    1330             :   // | --------------- create the trajectory class -------------- |
+    1331             : 
+    1332           0 :   if (success) {
+    1333           0 :     return std::optional(states);
+    1334             :   } else {
+    1335             :     ROS_ERROR("[MrsTrajectoryGeneration]: fallback: sampling failed");
+    1336           0 :     return {};
+    1337             :   }
+    1338             : }
+    1339             : 
+    1340             : //}
+    1341             : 
+    1342             : /* validateTrajectorySpatial() //{ */
+    1343             : 
+    1344           1 : std::tuple<bool, int, std::vector<bool>, double> MrsTrajectoryGeneration::validateTrajectorySpatial(
+    1345             :     const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const std::vector<Waypoint_t>& waypoints) {
+    1346             : 
+    1347           2 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::validateTrajectorySpatial", scope_timer_logger_, scope_timer_enabled_);
+    1348             : 
+    1349             :   // prepare the output
+    1350             : 
+    1351           2 :   std::vector<bool> segments;
+    1352           2 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1353           1 :     segments.push_back(true);
+    1354             :   }
+    1355             : 
+    1356             :   int waypoint_idx = 0;
+    1357             : 
+    1358             :   bool   is_safe       = true;
+    1359             :   double max_deviation = 0;
+    1360             : 
+    1361          40 :   for (size_t i = 0; i < trajectory.size() - 1; i++) {
+    1362             : 
+    1363             :     // the trajectory sample
+    1364          39 :     const vec3_t sample = vec3_t(trajectory[i].position_W[0], trajectory[i].position_W[1], trajectory[i].position_W[2]);
+    1365             : 
+    1366             :     // next sample
+    1367          39 :     const vec3_t next_sample = vec3_t(trajectory[i + 1].position_W[0], trajectory[i + 1].position_W[1], trajectory[i + 1].position_W[2]);
+    1368             : 
+    1369             :     // segment start
+    1370          39 :     const vec3_t segment_start = vec3_t(waypoints.at(waypoint_idx).coords[0], waypoints.at(waypoint_idx).coords[1], waypoints.at(waypoint_idx).coords[2]);
+    1371             : 
+    1372             :     // segment end
+    1373          39 :     const vec3_t segment_end =
+    1374          39 :         vec3_t(waypoints.at(waypoint_idx + 1).coords[0], waypoints.at(waypoint_idx + 1).coords[1], waypoints.at(waypoint_idx + 1).coords[2]);
+    1375             : 
+    1376          39 :     const double distance_from_segment = distFromSegment(sample, segment_start, segment_end);
+    1377             : 
+    1378          39 :     const double segment_end_dist = distFromSegment(segment_end, sample, next_sample);
+    1379             : 
+    1380          39 :     if (waypoint_idx > 0 || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+    1381             : 
+    1382          39 :       if (distance_from_segment > max_deviation) {
+    1383           9 :         max_deviation = distance_from_segment;
+    1384             :       }
+    1385             : 
+    1386          39 :       if (distance_from_segment > _trajectory_max_segment_deviation_) {
+    1387           0 :         segments.at(waypoint_idx) = false;
+    1388           0 :         is_safe                   = false;
+    1389             :       }
+    1390             :     }
+    1391             : 
+    1392          39 :     if (segment_end_dist < 0.05 && waypoint_idx < (int(waypoints.size()) - 2)) {
+    1393             :       waypoint_idx++;
+    1394             :     }
+    1395             :   }
+    1396             : 
+    1397           2 :   return std::tuple(is_safe, trajectory.size(), segments, max_deviation);
+    1398             : }
+    1399             : 
+    1400             : //}
+    1401             : 
+    1402             : /* getTrajectorySegmentCenterIdxs() //{ */
+    1403             : 
+    1404           0 : std::vector<int> MrsTrajectoryGeneration::getTrajectorySegmentCenterIdxs(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+    1405             :                                                                          const std::vector<Waypoint_t>&                    waypoints) {
+    1406             : 
+    1407           0 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::getTrajectorySegmentCenterIdxs", scope_timer_logger_, scope_timer_enabled_);
+    1408             : 
+    1409             :   // prepare the output
+    1410             : 
+    1411           0 :   std::vector<int> segment_centers;
+    1412             : 
+    1413             :   // index in the path
+    1414           0 :   int last_segment_start = 0;
+    1415             : 
+    1416             :   // index in the trajectory
+    1417           0 :   int last_segment_start_sample = 0;
+    1418             : 
+    1419           0 :   for (size_t i = 0; i < trajectory.size() - 1; i++) {
+    1420             : 
+    1421             :     // the trajectory sample
+    1422           0 :     const vec3_t sample = vec3_t(trajectory[i].position_W[0], trajectory[i].position_W[1], trajectory[i].position_W[2]);
+    1423             : 
+    1424             :     // next sample
+    1425           0 :     const vec3_t next_sample = vec3_t(trajectory[i + 1].position_W[0], trajectory[i + 1].position_W[1], trajectory[i + 1].position_W[2]);
+    1426             : 
+    1427             :     // segment start
+    1428           0 :     const vec3_t segment_start =
+    1429           0 :         vec3_t(waypoints.at(last_segment_start).coords[0], waypoints.at(last_segment_start).coords[1], waypoints.at(last_segment_start).coords[2]);
+    1430             : 
+    1431             :     // segment end
+    1432           0 :     const vec3_t segment_end =
+    1433           0 :         vec3_t(waypoints.at(last_segment_start + 1).coords[0], waypoints.at(last_segment_start + 1).coords[1], waypoints.at(last_segment_start + 1).coords[2]);
+    1434             : 
+    1435           0 :     const double distance_from_segment = distFromSegment(sample, segment_start, segment_end);
+    1436             : 
+    1437           0 :     const double segment_end_dist = distFromSegment(segment_end, sample, next_sample);
+    1438             : 
+    1439           0 :     if (segment_end_dist < 0.05 && last_segment_start < (int(waypoints.size()) - 2)) {
+    1440           0 :       last_segment_start++;
+    1441             : 
+    1442           0 :       segment_centers.push_back(int(floor(double(i - last_segment_start_sample) / 2.0)));
+    1443             :     }
+    1444             :   }
+    1445             : 
+    1446           0 :   return segment_centers;
+    1447             : }
+    1448             : 
+    1449             : //}
+    1450             : 
+    1451             : // | --------------------- minor routines --------------------- |
+    1452             : 
+    1453             : /* findTrajectoryAsync() //{ */
+    1454             : 
+    1455           1 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryAsync(const std::vector<Waypoint_t>&  waypoints,
+    1456             :                                                                                                        const mrs_msgs::TrackerCommand& initial_state,
+    1457             :                                                                                                        const double& sampling_dt, const bool& relax_heading) {
+    1458             : 
+    1459           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: starting the async planning task");
+    1460             : 
+    1461           1 :   future_trajectory_result_ =
+    1462           1 :       std::async(std::launch::async, &MrsTrajectoryGeneration::findTrajectory, this, waypoints, initial_state, sampling_dt, relax_heading);
+    1463             : 
+    1464           1 :   while (ros::ok() && future_trajectory_result_.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) {
+    1465             : 
+    1466           0 :     if (overtime()) {
+    1467           0 :       ROS_WARN("[MrsTrajectoryGeneration]: async task planning timeout, breaking");
+    1468           1 :       return {};
+    1469             :     }
+    1470             :   }
+    1471             : 
+    1472           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: async planning task finished successfully");
+    1473             : 
+    1474           1 :   return future_trajectory_result_.get();
+    1475             : }
+    1476             : 
+    1477             : //}
+    1478             : 
+    1479             : /* distFromSegment() //{ */
+    1480             : 
+    1481          78 : double MrsTrajectoryGeneration::distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2) {
+    1482             : 
+    1483          78 :   vec3_t segment_vector = seg2 - seg1;
+    1484          78 :   double segment_len    = segment_vector.norm();
+    1485             : 
+    1486          78 :   vec3_t segment_vector_norm = segment_vector;
+    1487          78 :   segment_vector_norm.normalize();
+    1488             : 
+    1489          78 :   double point_coordinate = segment_vector_norm.dot(point - seg1);
+    1490             : 
+    1491          78 :   if (point_coordinate < 0) {
+    1492           0 :     return (point - seg1).norm();
+    1493          78 :   } else if (point_coordinate > segment_len) {
+    1494          78 :     return (point - seg2).norm();
+    1495             :   } else {
+    1496             : 
+    1497          78 :     mat3_t segment_projector = segment_vector_norm * segment_vector_norm.transpose();
+    1498          39 :     vec3_t projection        = seg1 + segment_projector * (point - seg1);
+    1499             : 
+    1500          78 :     return (point - projection).norm();
+    1501             :   }
+    1502             : }
+    1503             : 
+    1504             : //}
+    1505             : 
+    1506             : /* getTrajectoryReference() //{ */
+    1507             : 
+    1508           1 : mrs_msgs::TrajectoryReference MrsTrajectoryGeneration::getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+    1509             :                                                                               const ros::Time& stamp, const double& sampling_dt) {
+    1510             : 
+    1511           1 :   mrs_msgs::TrajectoryReference msg;
+    1512             : 
+    1513           1 :   msg.header.frame_id = frame_id_;
+    1514           1 :   msg.header.stamp    = stamp;
+    1515           1 :   msg.fly_now         = fly_now_;
+    1516           1 :   msg.loop            = loop_;
+    1517           1 :   msg.use_heading     = use_heading_;
+    1518           1 :   msg.dt              = sampling_dt;
+    1519             : 
+    1520          41 :   for (size_t it = 0; it < trajectory.size(); it++) {
+    1521             : 
+    1522          40 :     mrs_msgs::Reference point;
+    1523          40 :     point.heading    = 0;
+    1524          40 :     point.position.x = trajectory[it].position_W[0];
+    1525          40 :     point.position.y = trajectory[it].position_W[1];
+    1526          40 :     point.position.z = trajectory[it].position_W[2];
+    1527          40 :     point.heading    = trajectory[it].getYaw();
+    1528             : 
+    1529          40 :     msg.points.push_back(point);
+    1530             :   }
+    1531             : 
+    1532           1 :   return msg;
+    1533             : }
+    1534             : 
+    1535             : //}
+    1536             : 
+    1537             : /* interpolatePoint() //{ */
+    1538             : 
+    1539           0 : Waypoint_t MrsTrajectoryGeneration::interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff) {
+    1540             : 
+    1541           0 :   Waypoint_t      out;
+    1542           0 :   Eigen::Vector4d diff = b.coords - a.coords;
+    1543             : 
+    1544           0 :   out.coords[0] = a.coords[0] + coeff * diff[0];
+    1545           0 :   out.coords[1] = a.coords[1] + coeff * diff[1];
+    1546           0 :   out.coords[2] = a.coords[2] + coeff * diff[2];
+    1547           0 :   out.coords[3] = radians::interp(a.coords[3], b.coords[3], coeff);
+    1548             : 
+    1549           0 :   out.stop_at = false;
+    1550             : 
+    1551           0 :   return out;
+    1552             : }
+    1553             : 
+    1554             : //}
+    1555             : 
+    1556             : /* checkNaN() //{ */
+    1557             : 
+    1558           1 : bool MrsTrajectoryGeneration::checkNaN(const Waypoint_t& a) {
+    1559             : 
+    1560           1 :   if (!std::isfinite(a.coords[0])) {
+    1561           0 :     ROS_ERROR("NaN detected in variable \"a.coords[0]\"!!!");
+    1562           0 :     return false;
+    1563             :   }
+    1564             : 
+    1565           1 :   if (!std::isfinite(a.coords[1])) {
+    1566           0 :     ROS_ERROR("NaN detected in variable \"a.coords[1]\"!!!");
+    1567           0 :     return false;
+    1568             :   }
+    1569             : 
+    1570           1 :   if (!std::isfinite(a.coords[2])) {
+    1571           0 :     ROS_ERROR("NaN detected in variable \"a.coords[2]\"!!!");
+    1572           0 :     return false;
+    1573             :   }
+    1574             : 
+    1575           1 :   if (!std::isfinite(a.coords[3])) {
+    1576           0 :     ROS_ERROR("NaN detected in variable \"a.coords[3]\"!!!");
+    1577           0 :     return false;
+    1578             :   }
+    1579             : 
+    1580             :   return true;
+    1581             : }
+    1582             : 
+    1583             : //}
+    1584             : 
+    1585             : /* trajectorySrv() //{ */
+    1586             : 
+    1587           1 : bool MrsTrajectoryGeneration::trajectorySrv(const mrs_msgs::TrajectoryReference& msg) {
+    1588             : 
+    1589           2 :   mrs_msgs::TrajectoryReferenceSrv srv;
+    1590           1 :   srv.request.trajectory = msg;
+    1591             : 
+    1592           1 :   bool res = service_client_trajectory_reference_.call(srv);
+    1593             : 
+    1594           1 :   if (res) {
+    1595             : 
+    1596           1 :     if (!srv.response.success) {
+    1597           0 :       ROS_WARN("[MrsTrajectoryGeneration]: service call for trajectory_reference returned: '%s'", srv.response.message.c_str());
+    1598             :     }
+    1599             : 
+    1600           1 :     return srv.response.success;
+    1601             : 
+    1602             :   } else {
+    1603             : 
+    1604           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: service call for trajectory_reference failed!");
+    1605             : 
+    1606           0 :     return false;
+    1607             :   }
+    1608             : }
+    1609             : 
+    1610             : //}
+    1611             : 
+    1612             : /* transformTrackerCmd() //{ */
+    1613             : 
+    1614           1 : std::optional<mrs_msgs::Path> MrsTrajectoryGeneration::transformPath(const mrs_msgs::Path& path_in, const std::string& target_frame) {
+    1615             : 
+    1616             :   // if we transform to the current control frame, which is in fact the same frame as the tracker_cmd is in
+    1617           1 :   if (target_frame == path_in.header.frame_id) {
+    1618           1 :     return path_in;
+    1619             :   }
+    1620             : 
+    1621             :   // find the transformation
+    1622           1 :   auto tf = transformer_->getTransform(path_in.header.frame_id, target_frame, path_in.header.stamp);
+    1623             : 
+    1624           0 :   if (!tf) {
+    1625           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: could not find transform from '%s' to '%s' in time %f", path_in.header.frame_id.c_str(), target_frame.c_str(),
+    1626             :               path_in.header.stamp.toSec());
+    1627           0 :     return {};
+    1628             :   }
+    1629             : 
+    1630           0 :   mrs_msgs::Path path_out = path_in;
+    1631             : 
+    1632           0 :   path_out.header.stamp    = tf.value().header.stamp;
+    1633           0 :   path_out.header.frame_id = transformer_->frame_to(tf.value());
+    1634             : 
+    1635           0 :   for (size_t i = 0; i < path_in.points.size(); i++) {
+    1636             : 
+    1637           0 :     mrs_msgs::ReferenceStamped waypoint;
+    1638             : 
+    1639           0 :     waypoint.header    = path_in.header;
+    1640           0 :     waypoint.reference = path_in.points[i];
+    1641             : 
+    1642           0 :     if (auto ret = transformer_->transform(waypoint, tf.value())) {
+    1643             : 
+    1644           0 :       path_out.points[i] = ret.value().reference;
+    1645             : 
+    1646             :     } else {
+    1647           0 :       return {};
+    1648             :     }
+    1649             :   }
+    1650             : 
+    1651             :   //}
+    1652             : 
+    1653           0 :   return path_out;
+    1654             : }
+    1655             : 
+    1656             : //}
+    1657             : 
+    1658             : /* overtime() //{ */
+    1659             : 
+    1660           4 : bool MrsTrajectoryGeneration::overtime(void) {
+    1661             : 
+    1662           4 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1663           4 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1664             : 
+    1665           4 :   double overtime = (ros::Time::now() - start_time_total).toSec();
+    1666             : 
+    1667           4 :   if (overtime > (OVERTIME_SAFETY_FACTOR * max_execution_time - OVERTIME_SAFETY_OFFSET)) {
+    1668           0 :     return true;
+    1669             :   }
+    1670             : 
+    1671             :   return false;
+    1672             : }
+    1673             : 
+    1674             : //}
+    1675             : 
+    1676             : /* timeLeft() //{ */
+    1677             : 
+    1678           1 : double MrsTrajectoryGeneration::timeLeft(void) {
+    1679             : 
+    1680           1 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1681           1 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1682             : 
+    1683           1 :   double current_execution_time = (ros::Time::now() - start_time_total).toSec();
+    1684             : 
+    1685           1 :   if (current_execution_time >= max_execution_time) {
+    1686             :     return 0;
+    1687             :   } else {
+    1688           1 :     return max_execution_time - current_execution_time;
+    1689             :   }
+    1690             : }
+    1691             : 
+    1692             : //}
+    1693             : 
+    1694             : // | ------------------------ callbacks ----------------------- |
+    1695             : 
+    1696             : /* callbackPath() //{ */
+    1697             : 
+    1698           0 : void MrsTrajectoryGeneration::callbackPath(const mrs_msgs::PathConstPtr& msg) {
+    1699             : 
+    1700           0 :   if (!is_initialized_) {
+    1701           0 :     return;
+    1702             :   }
+    1703             : 
+    1704             :   /* preconditions //{ */
+    1705             : 
+    1706           0 :   if (!got_constraints_) {
+    1707           0 :     std::stringstream ss;
+    1708           0 :     ss << "missing constraints";
+    1709           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1710           0 :     return;
+    1711             :   }
+    1712             : 
+    1713           0 :   if (!got_tracker_cmd_) {
+    1714           0 :     std::stringstream ss;
+    1715           0 :     ss << "missing position cmd";
+    1716           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1717           0 :     return;
+    1718             :   }
+    1719             : 
+    1720           0 :   if (!got_control_manager_diag_) {
+    1721           0 :     std::stringstream ss;
+    1722           0 :     ss << "missing control manager diagnostics";
+    1723           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1724           0 :     return;
+    1725             :   }
+    1726             : 
+    1727             :   //}
+    1728             : 
+    1729           0 :   {
+    1730           0 :     std::scoped_lock lock(mutex_start_time_total_);
+    1731             : 
+    1732           0 :     start_time_total_ = ros::Time::now();
+    1733             :   }
+    1734             : 
+    1735           0 :   double path_time_offset = 0;
+    1736             : 
+    1737           0 :   if (msg->header.stamp != ros::Time(0)) {
+    1738           0 :     path_time_offset = (msg->header.stamp - ros::Time::now()).toSec();
+    1739             :   }
+    1740             : 
+    1741           0 :   if (path_time_offset > 1e-3) {
+    1742             : 
+    1743           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1744             : 
+    1745           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_time);
+    1746             : 
+    1747           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1748             :              path_time_offset);
+    1749             :   } else {
+    1750             : 
+    1751           0 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1752             : 
+    1753           0 :     max_execution_time_ = params_.max_time;
+    1754             :   }
+    1755             : 
+    1756           0 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from message");
+    1757             : 
+    1758           0 :   ph_original_path_.publish(msg);
+    1759             : 
+    1760           0 :   if (msg->points.empty()) {
+    1761           0 :     std::stringstream ss;
+    1762           0 :     ss << "received an empty message";
+    1763           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1764           0 :     return;
+    1765             :   }
+    1766             : 
+    1767           0 :   auto transformed_path = transformPath(*msg, "");
+    1768             : 
+    1769           0 :   if (!transformed_path) {
+    1770           0 :     std::stringstream ss;
+    1771           0 :     ss << "could not transform the path to the current control frame";
+    1772           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1773           0 :     return;
+    1774             :   }
+    1775             : 
+    1776           0 :   fly_now_                              = transformed_path->fly_now;
+    1777           0 :   use_heading_                          = transformed_path->use_heading;
+    1778           0 :   frame_id_                             = transformed_path->header.frame_id;
+    1779           0 :   override_constraints_                 = transformed_path->override_constraints;
+    1780           0 :   loop_                                 = transformed_path->loop;
+    1781           0 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1782           0 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1783           0 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1784           0 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1785           0 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1786           0 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1787           0 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1788             : 
+    1789           0 :   std::vector<Waypoint_t> waypoints;
+    1790             : 
+    1791           0 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    1792             : 
+    1793           0 :     double x       = transformed_path->points[i].position.x;
+    1794           0 :     double y       = transformed_path->points[i].position.y;
+    1795           0 :     double z       = transformed_path->points[i].position.z;
+    1796           0 :     double heading = transformed_path->points[i].heading;
+    1797             : 
+    1798           0 :     Waypoint_t wp;
+    1799           0 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1800           0 :     wp.stop_at = stop_at_waypoints_;
+    1801             : 
+    1802           0 :     if (!checkNaN(wp)) {
+    1803           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1804           0 :       return;
+    1805             :     }
+    1806             : 
+    1807           0 :     waypoints.push_back(wp);
+    1808             :   }
+    1809             : 
+    1810           0 :   if (loop_) {
+    1811           0 :     waypoints.push_back(waypoints[0]);
+    1812             :   }
+    1813             : 
+    1814           0 :   bool                          success = false;
+    1815           0 :   std::string                   message;
+    1816           0 :   mrs_msgs::TrajectoryReference trajectory;
+    1817             : 
+    1818           0 :   for (int i = 0; i < _n_attempts_; i++) {
+    1819             : 
+    1820           0 :     auto tracker_cmd = mrs_lib::get_mutexed(mutex_tracker_cmd_, tracker_cmd_);
+    1821             : 
+    1822             :     // the last iteration and the fallback sampling is enabled
+    1823           0 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    1824             : 
+    1825           0 :     std::tie(success, message, trajectory) =
+    1826           0 :         optimize(waypoints, transformed_path->header, tracker_cmd, tracker_cmd.full_state_prediction, fallback_sampling, transformed_path->relax_heading);
+    1827             : 
+    1828           0 :     if (success) {
+    1829             :       break;
+    1830             :     } else {
+    1831           0 :       if (i < _n_attempts_) {
+    1832           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    1833             :       } else {
+    1834           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    1835             :       }
+    1836             :     }
+    1837             :   }
+    1838             : 
+    1839           0 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    1840             : 
+    1841           0 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1842             : 
+    1843           0 :   if (total_time > max_execution_time) {
+    1844           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    1845             :               total_time - max_execution_time);
+    1846             :   } else {
+    1847           0 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    1848             :   }
+    1849             : 
+    1850           0 :   trajectory.input_id = transformed_path->input_id;
+    1851             : 
+    1852           0 :   if (success) {
+    1853             : 
+    1854           0 :     bool published = trajectorySrv(trajectory);
+    1855             : 
+    1856           0 :     if (published) {
+    1857             : 
+    1858           0 :       ROS_INFO("[MrsTrajectoryGeneration]: trajectory successfully published");
+    1859             : 
+    1860             :     } else {
+    1861             : 
+    1862           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: could not publish the trajectory");
+    1863             :     }
+    1864             : 
+    1865             :   } else {
+    1866             : 
+    1867           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, no publishing a result");
+    1868             :   }
+    1869             : }
+    1870             : 
+    1871             : //}
+    1872             : 
+    1873             : /* callbackPathSrv() //{ */
+    1874             : 
+    1875           1 : bool MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res) {
+    1876             : 
+    1877           1 :   if (!is_initialized_) {
+    1878             :     return false;
+    1879             :   }
+    1880             : 
+    1881             :   /* mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("callback()"); */
+    1882             : 
+    1883             :   /* precondition //{ */
+    1884             : 
+    1885           1 :   if (!got_constraints_) {
+    1886           0 :     std::stringstream ss;
+    1887           0 :     ss << "missing constraints";
+    1888           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1889             : 
+    1890           0 :     res.message = ss.str();
+    1891           0 :     res.success = false;
+    1892           0 :     return true;
+    1893             :   }
+    1894             : 
+    1895           1 :   if (!got_tracker_cmd_) {
+    1896           0 :     std::stringstream ss;
+    1897           0 :     ss << "missing position cmd";
+    1898           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1899             : 
+    1900           0 :     res.message = ss.str();
+    1901           0 :     res.success = false;
+    1902           0 :     return true;
+    1903             :   }
+    1904             : 
+    1905           1 :   if (!got_control_manager_diag_) {
+    1906           0 :     std::stringstream ss;
+    1907           0 :     ss << "missing control manager diagnostics";
+    1908           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1909             : 
+    1910           0 :     res.message = ss.str();
+    1911           0 :     res.success = false;
+    1912           0 :     return true;
+    1913             :   }
+    1914             : 
+    1915             :   //}
+    1916             : 
+    1917           1 :   {
+    1918           1 :     std::scoped_lock lock(mutex_start_time_total_);
+    1919             : 
+    1920           1 :     start_time_total_ = ros::Time::now();
+    1921             :   }
+    1922             : 
+    1923           1 :   double path_time_offset = 0;
+    1924             : 
+    1925           1 :   if (req.path.header.stamp != ros::Time(0)) {
+    1926           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    1927             :   }
+    1928             : 
+    1929           1 :   if (path_time_offset > 1e-3) {
+    1930             : 
+    1931           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1932             : 
+    1933           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_time);
+    1934             : 
+    1935           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1936             :              path_time_offset);
+    1937             :   } else {
+    1938             : 
+    1939           2 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1940             : 
+    1941           1 :     max_execution_time_ = params_.max_time;
+    1942             :   }
+    1943             : 
+    1944           2 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from service");
+    1945             : 
+    1946           1 :   ph_original_path_.publish(req.path);
+    1947             : 
+    1948           1 :   if (req.path.points.empty()) {
+    1949           0 :     std::stringstream ss;
+    1950           0 :     ss << "received an empty message";
+    1951           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1952             : 
+    1953           0 :     res.message = ss.str();
+    1954           0 :     res.success = false;
+    1955           0 :     return true;
+    1956             :   }
+    1957             : 
+    1958           2 :   auto transformed_path = transformPath(req.path, "");
+    1959             : 
+    1960           1 :   if (!transformed_path) {
+    1961           0 :     std::stringstream ss;
+    1962           0 :     ss << "could not transform the path to the current control frame";
+    1963           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1964             : 
+    1965           0 :     res.message = ss.str();
+    1966           0 :     res.success = false;
+    1967           0 :     return true;
+    1968             :   }
+    1969             : 
+    1970           1 :   fly_now_                              = transformed_path->fly_now;
+    1971           1 :   use_heading_                          = transformed_path->use_heading;
+    1972           1 :   frame_id_                             = transformed_path->header.frame_id;
+    1973           1 :   override_constraints_                 = transformed_path->override_constraints;
+    1974           1 :   loop_                                 = transformed_path->loop;
+    1975           1 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1976           1 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1977           1 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1978           1 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1979           1 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1980           1 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1981           1 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1982             : 
+    1983           2 :   std::vector<Waypoint_t> waypoints;
+    1984             : 
+    1985           2 :   for (size_t i = 0; i < req.path.points.size(); i++) {
+    1986             : 
+    1987           1 :     double x       = transformed_path->points[i].position.x;
+    1988           1 :     double y       = transformed_path->points[i].position.y;
+    1989           1 :     double z       = transformed_path->points[i].position.z;
+    1990           1 :     double heading = transformed_path->points[i].heading;
+    1991             : 
+    1992           1 :     Waypoint_t wp;
+    1993           1 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1994           1 :     wp.stop_at = stop_at_waypoints_;
+    1995             : 
+    1996           1 :     if (!checkNaN(wp)) {
+    1997           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1998           0 :       res.success = false;
+    1999           0 :       res.message = "invalid path";
+    2000           0 :       return true;
+    2001             :     }
+    2002             : 
+    2003           1 :     waypoints.push_back(wp);
+    2004             :   }
+    2005             : 
+    2006           1 :   if (loop_) {
+    2007           0 :     waypoints.push_back(waypoints[0]);
+    2008             :   }
+    2009             : 
+    2010           1 :   bool                          success = false;
+    2011           2 :   std::string                   message;
+    2012           2 :   mrs_msgs::TrajectoryReference trajectory;
+    2013             : 
+    2014           1 :   for (int i = 0; i < _n_attempts_; i++) {
+    2015             : 
+    2016           1 :     auto tracker_cmd = mrs_lib::get_mutexed(mutex_tracker_cmd_, tracker_cmd_);
+    2017             : 
+    2018             :     // the last iteration and the fallback sampling is enabled
+    2019           1 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2020             : 
+    2021           1 :     std::tie(success, message, trajectory) =
+    2022           2 :         optimize(waypoints, transformed_path->header, tracker_cmd, tracker_cmd.full_state_prediction, fallback_sampling, transformed_path->relax_heading);
+    2023             : 
+    2024           1 :     if (success) {
+    2025             :       break;
+    2026             :     } else {
+    2027           0 :       if (i < _n_attempts_) {
+    2028           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2029             :       } else {
+    2030           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2031             :       }
+    2032             :     }
+    2033             :   }
+    2034             : 
+    2035           1 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2036             : 
+    2037           1 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2038             : 
+    2039           1 :   if (total_time > max_execution_time) {
+    2040           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2041             :               total_time - max_execution_time);
+    2042             :   } else {
+    2043           2 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2044             :   }
+    2045             : 
+    2046           1 :   trajectory.input_id = transformed_path->input_id;
+    2047             : 
+    2048           1 :   if (success) {
+    2049             : 
+    2050           1 :     bool published = trajectorySrv(trajectory);
+    2051             : 
+    2052           1 :     if (published) {
+    2053             : 
+    2054           1 :       res.success = success;
+    2055           1 :       res.message = message;
+    2056             : 
+    2057             :     } else {
+    2058             : 
+    2059           0 :       std::stringstream ss;
+    2060           0 :       ss << "could not publish the trajectory";
+    2061             : 
+    2062           0 :       res.success = false;
+    2063           0 :       res.message = ss.str();
+    2064             : 
+    2065           0 :       ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    2066             :     }
+    2067             : 
+    2068             :   } else {
+    2069             : 
+    2070           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, not publishing a result");
+    2071             : 
+    2072           0 :     res.success = success;
+    2073           0 :     res.message = message;
+    2074             :   }
+    2075             : 
+    2076           1 :   return true;
+    2077             : }
+    2078             : 
+    2079             : //}
+    2080             : 
+    2081             : /* callbackGetPathSrv() //{ */
+    2082             : 
+    2083           0 : bool MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res) {
+    2084             : 
+    2085           0 :   if (!is_initialized_) {
+    2086             :     return false;
+    2087             :   }
+    2088             : 
+    2089             :   /* precondition //{ */
+    2090             : 
+    2091           0 :   if (!got_constraints_) {
+    2092           0 :     std::stringstream ss;
+    2093           0 :     ss << "missing constraints";
+    2094           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2095             : 
+    2096           0 :     res.message = ss.str();
+    2097           0 :     res.success = false;
+    2098           0 :     return true;
+    2099             :   }
+    2100             : 
+    2101           0 :   if (!got_tracker_cmd_) {
+    2102           0 :     std::stringstream ss;
+    2103           0 :     ss << "missing position cmd";
+    2104           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2105             : 
+    2106           0 :     res.message = ss.str();
+    2107           0 :     res.success = false;
+    2108           0 :     return true;
+    2109             :   }
+    2110             : 
+    2111           0 :   if (!got_control_manager_diag_) {
+    2112           0 :     std::stringstream ss;
+    2113           0 :     ss << "missing control manager diagnostics";
+    2114           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2115             : 
+    2116           0 :     res.message = ss.str();
+    2117           0 :     res.success = false;
+    2118           0 :     return true;
+    2119             :   }
+    2120             : 
+    2121             :   //}
+    2122             : 
+    2123           0 :   {
+    2124           0 :     std::scoped_lock lock(mutex_start_time_total_);
+    2125             : 
+    2126           0 :     start_time_total_ = ros::Time::now();
+    2127             :   }
+    2128             : 
+    2129           0 :   double path_time_offset = 0;
+    2130             : 
+    2131           0 :   if (req.path.header.stamp != ros::Time(0)) {
+    2132           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    2133             :   }
+    2134             : 
+    2135           0 :   if (path_time_offset > 1e-3) {
+    2136             : 
+    2137           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2138             : 
+    2139           0 :     max_execution_time_ = FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset;
+    2140             : 
+    2141           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    2142             :              path_time_offset);
+    2143             :   } else {
+    2144             : 
+    2145           0 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    2146             : 
+    2147           0 :     max_execution_time_ = params_.max_time;
+    2148             :   }
+    2149             : 
+    2150           0 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from service");
+    2151             : 
+    2152           0 :   ph_original_path_.publish(req.path);
+    2153             : 
+    2154           0 :   if (req.path.points.empty()) {
+    2155           0 :     std::stringstream ss;
+    2156           0 :     ss << "received an empty message";
+    2157           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2158             : 
+    2159           0 :     res.message = ss.str();
+    2160           0 :     res.success = false;
+    2161           0 :     return true;
+    2162             :   }
+    2163             : 
+    2164           0 :   fly_now_                              = req.path.fly_now;
+    2165           0 :   use_heading_                          = req.path.use_heading;
+    2166           0 :   frame_id_                             = req.path.header.frame_id;
+    2167           0 :   override_constraints_                 = req.path.override_constraints;
+    2168           0 :   loop_                                 = req.path.loop;
+    2169           0 :   override_max_velocity_horizontal_     = req.path.override_max_velocity_horizontal;
+    2170           0 :   override_max_velocity_vertical_       = req.path.override_max_velocity_vertical;
+    2171           0 :   override_max_acceleration_horizontal_ = req.path.override_max_acceleration_horizontal;
+    2172           0 :   override_max_acceleration_vertical_   = req.path.override_max_acceleration_vertical;
+    2173           0 :   override_max_jerk_horizontal_         = req.path.override_max_jerk_horizontal;
+    2174           0 :   override_max_jerk_vertical_           = req.path.override_max_jerk_horizontal;
+    2175           0 :   stop_at_waypoints_                    = req.path.stop_at_waypoints;
+    2176             : 
+    2177           0 :   std::vector<Waypoint_t> waypoints;
+    2178             : 
+    2179           0 :   for (size_t i = 0; i < req.path.points.size(); i++) {
+    2180             : 
+    2181           0 :     double x       = req.path.points[i].position.x;
+    2182           0 :     double y       = req.path.points[i].position.y;
+    2183           0 :     double z       = req.path.points[i].position.z;
+    2184           0 :     double heading = req.path.points[i].heading;
+    2185             : 
+    2186           0 :     Waypoint_t wp;
+    2187           0 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2188           0 :     wp.stop_at = stop_at_waypoints_;
+    2189             : 
+    2190           0 :     if (!checkNaN(wp)) {
+    2191           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2192           0 :       res.success = false;
+    2193           0 :       res.message = "invalid path";
+    2194           0 :       return true;
+    2195             :     }
+    2196             : 
+    2197           0 :     waypoints.push_back(wp);
+    2198             :   }
+    2199             : 
+    2200           0 :   if (loop_) {
+    2201           0 :     waypoints.push_back(waypoints[0]);
+    2202             :   }
+    2203             : 
+    2204           0 :   bool                          success = false;
+    2205           0 :   std::string                   message;
+    2206           0 :   mrs_msgs::TrajectoryReference trajectory;
+    2207             : 
+    2208           0 :   for (int i = 0; i < _n_attempts_; i++) {
+    2209             : 
+    2210           0 :     auto tracker_cmd = mrs_lib::get_mutexed(mutex_tracker_cmd_, tracker_cmd_);
+    2211             : 
+    2212             :     // the last iteration and the fallback sampling is enabled
+    2213           0 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2214             : 
+    2215           0 :     std::tie(success, message, trajectory) =
+    2216           0 :         optimize(waypoints, req.path.header, tracker_cmd, tracker_cmd.full_state_prediction, fallback_sampling, req.path.relax_heading);
+    2217             : 
+    2218           0 :     if (success) {
+    2219             :       break;
+    2220             :     } else {
+    2221           0 :       if (i < _n_attempts_) {
+    2222           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2223             :       } else {
+    2224           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2225             :       }
+    2226             :     }
+    2227             :   }
+    2228             : 
+    2229           0 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2230             : 
+    2231           0 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2232             : 
+    2233           0 :   if (total_time > max_execution_time) {
+    2234           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2235             :               total_time - max_execution_time);
+    2236             :   } else {
+    2237           0 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2238             :   }
+    2239             : 
+    2240           0 :   if (success) {
+    2241             : 
+    2242           0 :     res.trajectory = trajectory;
+    2243           0 :     res.success    = success;
+    2244           0 :     res.message    = message;
+    2245             : 
+    2246             :   } else {
+    2247             : 
+    2248           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2249             : 
+    2250           0 :     res.success = success;
+    2251           0 :     res.message = message;
+    2252             :   }
+    2253             : 
+    2254           0 :   return true;
+    2255             : }
+    2256             : 
+    2257             : //}
+    2258             : 
+    2259             : /* callbackConstraints() //{ */
+    2260             : 
+    2261        3727 : void MrsTrajectoryGeneration::callbackConstraints(const mrs_msgs::DynamicsConstraintsConstPtr& msg) {
+    2262             : 
+    2263        3727 :   if (!is_initialized_) {
+    2264             :     return;
+    2265             :   }
+    2266             : 
+    2267        3774 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: got constraints");
+    2268             : 
+    2269        3727 :   mrs_lib::set_mutexed(mutex_constraints_, *msg, constraints_);
+    2270             : 
+    2271        3727 :   got_constraints_ = true;
+    2272             : }
+    2273             : 
+    2274             : //}
+    2275             : 
+    2276             : /* callbackTrackerCmd() //{ */
+    2277             : 
+    2278       32887 : void MrsTrajectoryGeneration::callbackTrackerCmd(const mrs_msgs::TrackerCommandConstPtr& msg) {
+    2279             : 
+    2280       32887 :   if (!is_initialized_) {
+    2281             :     return;
+    2282             :   }
+    2283             : 
+    2284       32934 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: got position cmd");
+    2285             : 
+    2286       32887 :   got_tracker_cmd_ = true;
+    2287             : 
+    2288       32887 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    2289             : 
+    2290       32887 :   mrs_lib::set_mutexed(mutex_tracker_cmd_, *msg, tracker_cmd_);
+    2291             : }
+    2292             : 
+    2293             : //}
+    2294             : 
+    2295             : /* callbackControlManagerDiag() //{ */
+    2296             : 
+    2297        4806 : void MrsTrajectoryGeneration::callbackControlManagerDiag(const mrs_msgs::ControlManagerDiagnosticsConstPtr& msg) {
+    2298             : 
+    2299        4806 :   if (!is_initialized_) {
+    2300             :     return;
+    2301             :   }
+    2302             : 
+    2303        4853 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: got control manager diagnostics");
+    2304             : 
+    2305        4806 :   got_control_manager_diag_ = true;
+    2306             : 
+    2307        4806 :   mrs_lib::set_mutexed(mutex_control_manager_diag_, *msg, control_manager_diag_);
+    2308             : }
+    2309             : 
+    2310             : //}
+    2311             : 
+    2312             : /* //{ callbackDrs() */
+    2313             : 
+    2314          47 : void MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, [[maybe_unused]] uint32_t level) {
+    2315             : 
+    2316          94 :   mrs_lib::set_mutexed(mutex_params_, params, params_);
+    2317             : 
+    2318          47 :   {
+    2319          47 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2320             : 
+    2321          47 :     max_execution_time_ = params.max_time;
+    2322             :   }
+    2323             : 
+    2324          94 :   ROS_INFO("[MrsTrajectoryGeneration]: DRS updated");
+    2325          47 : }
+    2326             : 
+    2327             : //}
+    2328             : 
+    2329             : }  // namespace mrs_uav_trajectory_generation
+    2330             : 
+    2331             : #include <pluginlib/class_list_macros.h>
+    2332             : PLUGINLIB_EXPORT_CLASS(mrs_uav_trajectory_generation::MrsTrajectoryGeneration, nodelet::Nodelet);
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.overview.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.overview.html new file mode 100644 index 0000000000..6841a81f7d --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.overview.html @@ -0,0 +1,603 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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+ Overview +
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