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| // Copyright 2024 AIT - Austrian Institute of Technology GmbH | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef CONTROL_FILTERS__RATE_LIMITER_HPP_ | ||
| #define CONTROL_FILTERS__RATE_LIMITER_HPP_ | ||
|
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| #include <Eigen/Dense> | ||
| #include <cmath> | ||
| #include <memory> | ||
| #include <string> | ||
|
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| #include "filters/filter_base.hpp" | ||
|
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| #include "control_toolbox/rate_limiter.hpp" | ||
| #include "rate_limiter_parameters.hpp" | ||
|
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| namespace control_filters | ||
| { | ||
|
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| /***************************************************/ | ||
| /*! \class RateLimiter | ||
| \section Usage | ||
| The RateLimiter class is meant to be instantiated as a filter in | ||
| a controller but can also be used elsewhere. | ||
| For manual instantiation, you should first call configure() | ||
| (in non-realtime) and then call update() at every update step. | ||
| */ | ||
| /***************************************************/ | ||
|
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| template <typename T> | ||
| class RateLimiter : public filters::FilterBase<T> | ||
| { | ||
| public: | ||
| /*! | ||
| * \brief Configure the RateLimiter (access and process params). | ||
| */ | ||
| bool configure() override; | ||
|
|
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| /*! | ||
| * \brief Applies one step of the rate limiter | ||
| * | ||
| * \param data_in input to the limiter | ||
| * \param data_out limited output | ||
| * | ||
| * \returns false if filter is not configured, true otherwise | ||
| */ | ||
| bool update(const T & data_in, T & data_out) override; | ||
|
|
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| private: | ||
| rclcpp::Clock::SharedPtr clock_; | ||
| std::shared_ptr<rclcpp::Logger> logger_; | ||
| std::shared_ptr<rate_limiter::ParamListener> parameter_handler_; | ||
| rate_limiter::Params parameters_; | ||
| std::shared_ptr<control_toolbox::RateLimiter<T>> limiter; | ||
|
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| T v1, v0; | ||
| }; | ||
|
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| template <typename T> | ||
| bool RateLimiter<T>::configure() | ||
| { | ||
| clock_ = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME); | ||
| logger_.reset( | ||
| new rclcpp::Logger(this->logging_interface_->get_logger().get_child(this->filter_name_))); | ||
|
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| v0 = v1 = static_cast<T>(0.0); | ||
|
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| // Initialize the parameters once | ||
| if (!parameter_handler_) | ||
| { | ||
| try | ||
| { | ||
| parameter_handler_ = | ||
| std::make_shared<rate_limiter::ParamListener>(this->params_interface_, | ||
| this->param_prefix_); | ||
| } | ||
| catch (rclcpp::exceptions::ParameterUninitializedException & ex) { | ||
| RCLCPP_ERROR((*logger_), "Rate limiter cannot be configured: %s", ex.what()); | ||
| parameter_handler_.reset(); | ||
| return false; | ||
| } | ||
| catch (rclcpp::exceptions::InvalidParameterValueException & ex) { | ||
| RCLCPP_ERROR((*logger_), "Rate limiter cannot be configured: %s", ex.what()); | ||
| parameter_handler_.reset(); | ||
| return false; | ||
| } | ||
| } | ||
| parameters_ = parameter_handler_->get_params(); | ||
| limiter = std::make_shared<control_toolbox::RateLimiter<T>>( | ||
| parameters_.min_value, parameters_.max_value, | ||
| parameters_.min_first_derivative_neg, parameters_.max_first_derivative_pos, | ||
| parameters_.min_first_derivative_pos, parameters_.max_first_derivative_neg, | ||
| parameters_.min_second_derivative, parameters_.max_second_derivative | ||
| ); | ||
|
|
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| return true; | ||
| } | ||
|
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| template <typename T> | ||
| bool RateLimiter<T>::update(const T & data_in, T & data_out) | ||
| { | ||
| if (!this->configured_ || !limiter) | ||
| { | ||
| throw std::runtime_error("Filter is not configured"); | ||
| } | ||
|
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| // Update internal parameters if required | ||
| if (parameter_handler_->is_old(parameters_)) | ||
| { | ||
| parameters_ = parameter_handler_->get_params(); | ||
| limiter->set_params( | ||
| parameters_.min_value, parameters_.max_value, | ||
| parameters_.min_first_derivative_neg, parameters_.max_first_derivative_pos, | ||
| parameters_.min_first_derivative_pos, parameters_.max_first_derivative_neg, | ||
| parameters_.min_second_derivative, parameters_.max_second_derivative | ||
| ); | ||
| } | ||
| T v = data_in; | ||
| limiter->limit(v, v0, v1, static_cast<T>(parameters_.sampling_interval)); | ||
| v1 = v0; | ||
| v0 = data_in; | ||
| data_out = v; | ||
| return true; | ||
| } | ||
|
|
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| } // namespace control_filters | ||
|
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| #endif // CONTROL_FILTERS__RATE_LIMITER_HPP_ |
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