throttle.H

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// Copyright (C) 2005 Pablo Mejia
// Copyright (C) 2005 University of Louisiana at Lafayette
// Authors: Pablo Mejia, Suresh Golconda

#ifndef CAJUN_THROTTLE_H
#define CAJUN_THROTTLE_H

#include "conf.H"

#include <cstdlib>

namespace cajun
{
        class sog_data_t;
        class steering_data_t;

        class base_throttle_t
        {
        public:
                base_throttle_t (const conf_t &conf)
                {
                        init ();
                        if (! read_config (conf))
                                exit (-1);
                }
                virtual ~base_throttle_t () {}

                virtual bool read_config (const conf_t &conf)
                {
                        return conf.require ("debug_throttle",
                                             m_debug_throttle) &&
                            conf.require ("min_steering_to_consider_as_turn",
                                      m_min_steering_to_consider_as_turn) &&
                            conf.require ("max_straight_throttle",
                                            m_max_straight_throttle) &&
                            conf.require ("max_turn_throttle",
                                            m_max_turn_throttle) &&
                            conf.require ("speed_error_threshold",
                                            m_speed_error_threshold);
                }

                virtual void init ()
                {
                        m_throttle = 0;
                }
                virtual void throttle (double tstamp,
                                       steering_data_t &steering,
                                       sog_data_t const &sd,
                                       double desired_speed,
                                       double desired_speed_rate) = 0;
        protected:
                bool m_debug_throttle;

                double m_min_steering_to_consider_as_turn;
                double m_max_straight_throttle;
                double m_max_turn_throttle;
                double m_speed_error_threshold;
                double m_throttle;
        };
//=========================  version 1 =============
        class throttle_v1_t : public base_throttle_t
        {
        public:
                throttle_v1_t (const conf_t &conf);
                void init ();
                bool read_config (const conf_t &conf);
                void throttle (double tstamp_,
                               steering_data_t &steering,
                               sog_data_t const &sd,
                               double desired_speed,
                               double desired_speed_rate);
                double m_throttle_up_factor;
        protected:
                double m_throttle_down_factor;
                double m_last_speed;
                double m_last_speed_rate;
                double m_last_speed_tstamp;
        };


//=========================  version 2 ============= (newer pid, 02/15/05)
        class throttle_v2_t : public base_throttle_t
        {
        public:
                throttle_v2_t (const conf_t &conf);
                virtual ~throttle_v2_t () {}

                virtual bool read_config (const conf_t &conf);

                virtual void init ()
                {
                        m_throttle = 0;
                        for (unsigned i = 0; i < 2; i++)
                        {
                                m_error[i] = 0;
                                m_tstamp[i] = 0;
                        }
                }

                virtual void throttle (double tstamp,
                                       steering_data_t &steering,
                                       sog_data_t const &sd,
                                       double desired_speed,
                                       double desired_speed_rate);

        protected:
                double m_min_steering_to_consider_as_turn;
                double m_max_straight_throttle;
                double m_max_turn_throttle;
                double m_speed_error_threshold;

                double m_throttle;
                double m_error[2];
                double m_tstamp[2];
                double m_kp;
                double m_ki;
                double m_kd;
        };





//=========================  version 3 ============= (newer pid, 02/15/05)
        class throttle_v3_t : public base_throttle_t
        {
        public:
                throttle_v3_t (const conf_t &conf);
                virtual ~throttle_v3_t () {}

                bool read_config (const conf_t &conf);

                void init ()
                {
                        m_prev_tstamp = 0;
                        m_throttle = 0;
                }

                void throttle (double tstamp, steering_data_t &steering,
                               sog_data_t const &sd, double desired_speed,
                               double desired_speed_rate);

        protected:
                double m_min_steering_to_consider_as_turn;
                double m_max_straight_throttle;
                double m_max_turn_throttle;
                double m_speed_error_threshold;

                double m_kp;
                double m_ki;
                double m_kd;

                double m_throttle;
                double m_prev_tstamp;
                double m_prev_sog;
                double m_prev_acc_error;
        };

};





#endif

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