PidAttitudeControl.h

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/*
Simple PID header file
 
Author: Alex Reynolds
*/
 
#ifndef GNC_CONTROL_PID_ATTITUDE_CONTROL_H
#define GNC_CONTROL_PID_ATTITUDE_CONTROL_H
 
#include "core/macros.h"
#include "architecture/Tasks.h"
#include "six_dof_dynamics/Frame.hpp"
#include "utils/frameutils.hpp"
 
namespace clockwerk {
 
    /**
     * @brief   Simple attitude controller header file
     * 
     * This file implements PD attitude control
    */
    class PidAttitudeControl : public clockwerk::Task {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** The proportional weight in the PD controller */
            SIGNAL(P,                       double,                 0.0)
            /** The angular acceleration (derivative) weight in the pD controller */
            SIGNAL(K,                       double,                 0.0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            /** The commanded attitude. This is the desired state for the system to achieve */
            SIGNAL(cmd_state,               QuaternionD,            QuaternionD({0.0,0.0,0.0,0.0}))
            /** The actual state vector. This is the current state of the system */
            SIGNAL(act_state,               QuaternionD,            QuaternionD({0.0,0.0,0.0,0.0}))
            /** The commanded angular velocity. */
            SIGNAL(cmd_ang_vel,             CartesianVector3D,      CartesianVector3D({0.0,0.0,0.0}))
            /** The actual angular velocity. */
            SIGNAL(act_ang_vel,             CartesianVector3D,      CartesianVector3D({0.0,0.0,0.0}))
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** The control command provided by the controller */
            SIGNAL(control_cmd,             CartesianVector3D,      CartesianVector3D({0.0,0.0,0.0}))
            /** The current error in the system - actual - cmd */
            SIGNAL(error_quat,              QuaternionD,            QuaternionD({0.0,0.0,0.0,0.0}))
            /** The magnitude of the error angle between control and actual attitude */
            SIGNAL(error_angle,             double,                 0.0)
            /** The current error in the system - actual - cmd */
            SIGNAL(error_omega,             CartesianVector3D,      CartesianVector3D({0.0,0.0,0.0}))
        END_OUTPUTS
 
        // Model-specific implementations of startup and derivative
        PidAttitudeControl() : clockwerk::Task() {}
        PidAttitudeControl(clockwerk::Task &pnt, int schedule_slot=0, const std::string &m_name="simple_pid_task")
            : clockwerk::Task(pnt, schedule_slot, m_name) {}
        PidAttitudeControl(clockwerk::Executive &e, int schedule_slot=0, const std::string &m_name="simple_pid_task")
            : clockwerk::Task(e, schedule_slot, m_name) {}
        virtual ~PidAttitudeControl() {}
    protected:
        int execute();
    };
 
}
 
#endif