steering_leadlag.H

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// Copyright (C) 2006 
// Copyright (C) 2006 University of Louisiana at Lafayette
// Authors: John Herpin

#ifndef CAJUN_STEERING_LEADLAG_H
#define CAJUN_STEERING_LEADLAG_H

#include "base_steering.H"
#include "integral.H"
#include "interp.H"

namespace cajun
{
//****************Lead-Lag v1 controller*****************

        class steering_leadlag_v1_t : public base_steering_t
        {
        private:
            double g1;
            double g2;
            double reverse_kp;
            double forward_kp;

            integral convolution_sum;

            double total;

            double m_error[3];
            double m_tstamp[3];

            double error[2];
            double tstamp[2];
            double m_steer[3];

            double previous_steer[2];
            double max_turn;
            double dead_band;
            bool smoothen;
            double filter_reduction_value;

        public:
            virtual void init()
                {
                        for (unsigned i = 0; i < 2; i++)
                        {
                                tstamp[i] = 0;
                                error[i] = 0;
                                previous_steer[i] = 0;
                        }
                        for (unsigned i = 0; i < 3; i++)
                        {
                                m_tstamp[i] = 0;
                                m_error[i] = 0;
                                m_steer[i] = 0;
                        }
                }
                steering_leadlag_v1_t (const conf_t &conf);
                bool read_config (const conf_t &conf);
                void steer (steering_data_t &steering,
                            double steering_position,
                            guide_data_t const &gd,
                            heading_data_t const &heading_data,
                            double speed_, bool forward, bool tight_path);
        };

//*******************Lead-Lag v2 controller*********************

        class steering_leadlag_v2_t : public base_steering_t
        {
        private:
            interp_table_t g1;    //overall gain
            double g2;            //derivative gain
            double g3;            //integral gain
            double reverse_kp;
            double forward_kp;

            integral integral_sum;
            integral convolution_sum;

            double total;

            double m_error[3];
            double m_tstamp[3];

            double error[2];
            double tstamp[2];
            double m_steer[3];

            double previous_steer[2];
            double max_turn;
            double dead_band;
            bool smoothen;
            double filter_reduction_value;


        public:
            virtual void init()
                {
                        for (unsigned i = 0; i < 2; i++)
                        {
                                tstamp[i] = 0;
                                error[i] = 0;
                                previous_steer[i] = 0;
                        }
                        for (unsigned i = 0; i < 3; i++)
                        {
                                m_tstamp[i] = 0;
                                m_error[i] = 0;
                                m_steer[i] = 0;
                        }
                }
                steering_leadlag_v2_t (const conf_t &conf);
                bool read_config (const conf_t &conf);
                void steer (steering_data_t &steering,
                            double steering_position,
                            guide_data_t const &gd,
                            heading_data_t const &heading_data,
                            double speed_, bool forward, bool tight_path);
        };
};
#endif

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